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CALIBRATE_GYRO_ON_START constant

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This commit is contained in:
Oleg Kalachev 2023-03-26 10:49:43 +03:00
parent e039055c8e
commit 127cd58d16
1 changed files with 13 additions and 9 deletions
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22
flix/imu.ino
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@ -5,6 +5,8 @@
#define IMU_CS_PIN 4 // chip-select pin for IMU SPI connection
const bool CALIBRATE_GYRO_ON_START = false;
MPU9250 IMU(SPI, IMU_CS_PIN);
void setupIMU()
@ -19,16 +21,16 @@ void setupIMU()
}
}
calibrating = true;
calibrateGyro();
// loadGyroCal();
// calibrateAccel();
if (CALIBRATE_GYRO_ON_START) {
calibrateGyro();
} else {
loadGyroCal();
}
loadAccelCal();
IMU.setSrd(0); // set sample rate to 1000 Hz
// NOTE: very important, without the above the rate would be terrible 50 Hz
calibrating = false;
}
bool readIMU()
@ -52,6 +54,7 @@ bool readIMU()
static void calibrateGyro()
{
calibrating = true;
Serial.println("Calibrating gyro, stand still");
delay(500);
int status = IMU.calibrateGyro();
@ -61,6 +64,7 @@ static void calibrateGyro()
Serial.print(IMU.getGyroBiasY_rads(), 10); Serial.print(" ");
Serial.println(IMU.getGyroBiasZ_rads(), 10);
IMU.setSrd(0);
calibrating = false;
}
static void calibrateAccel()
@ -96,9 +100,9 @@ static void loadAccelCal()
static void loadGyroCal()
{
IMU.setGyroBiasX_rads(-0.0175771303);
IMU.setGyroBiasY_rads(-0.0298212003);
IMU.setGyroBiasZ_rads(0.0148300380);
IMU.setGyroBiasX_rads(-0.0185128022);
IMU.setGyroBiasY_rads(-0.0262369743);
IMU.setGyroBiasZ_rads(0.0163032326);
}
// Accel bias: 0.0463809967 0.0463809967 0.1486964226