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Cleanups

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This commit is contained in:
Oleg Kalachev
2023-05-24 10:56:59 +03:00
parent 87c75842f9
commit 82276ddb92
6 changed files with 11 additions and 42 deletions
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23
flix/imu.ino
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@@ -55,17 +55,12 @@ bool readIMU()
static void calibrateGyro()
{
calibrating = true;
Serial.println("Calibrating gyro, stand still");
delay(500);
int status = IMU.calibrateGyro();
Serial.printf("Calibration status: %d\n", status);
Serial.print("Gyro bias: ");
Serial.print(IMU.getGyroBiasX_rads(), 10); Serial.print(" ");
Serial.print(IMU.getGyroBiasY_rads(), 10); Serial.print(" ");
Serial.println(IMU.getGyroBiasZ_rads(), 10);
IMU.setSrd(0);
calibrating = false;
printIMUCal();
}
static void calibrateAccel()
@@ -82,14 +77,7 @@ static void calibrateAccel()
IMU.calibrateAccel();
Serial.println("Cal accel: upside down"); delay(300);
IMU.calibrateAccel();
Serial.print("Accel bias: ");
Serial.print(IMU.getAccelBiasX_mss(), 10); Serial.print(" ");
Serial.print(IMU.getAccelBiasY_mss(), 10); Serial.print(" ");
Serial.println(IMU.getAccelBiasZ_mss(), 10);
Serial.print("Accel scale: ");
Serial.print(IMU.getAccelScaleFactorX(), 10); Serial.print(" ");
Serial.print(IMU.getAccelScaleFactorY(), 10); Serial.print(" ");
Serial.println(IMU.getAccelScaleFactorZ(), 10);
printIMUCal();
}
static void loadAccelCal()
@@ -106,6 +94,13 @@ static void loadGyroCal()
IMU.setGyroBiasZ_rads(0.0163032326);
}
void printIMUCal()
{
Serial.printf("gyro bias: %f %f %f\n", IMU.getGyroBiasX_rads(), IMU.getGyroBiasY_rads(), IMU.getGyroBiasZ_rads());
Serial.printf("accel bias: %f %f %f\n", IMU.getAccelBiasX_mss(), IMU.getAccelBiasY_mss(), IMU.getAccelBiasZ_mss());
Serial.printf("accel scale: %f %f %f\n", IMU.getAccelScaleFactorX(), IMU.getAccelScaleFactorY(), IMU.getAccelScaleFactorZ());
}
// Accel bias: 0.0463809967 0.0463809967 0.1486964226
// Accel scale: 0.9986976385 0.9993721247 1.0561490059