Diff: hil.cpp

Revision:

77:2bf856e3eca4

Parent:

76:7fd3ac1afe3e

Child:

82:c183c29d2427

--- a/hil.cpp	Sat Aug 07 06:54:58 2021 +0000
+++ b/hil.cpp	Tue Sep 07 08:13:45 2021 +0000
@@ -11,20 +11,28 @@
         }
     rpy_align.x = 0.0f;
     rpy_align.y = 0.0f;
-    accref.z =  1.0f;
+    //accref.z =  1.0f;
+    
+    ax = accelgyro.getAccelerationX() - agoffset[0];
+    ay = accelgyro.getAccelerationY() - agoffset[1];
+    az = accelgyro.getAccelerationZ() - agoffset[2];
+    gx = accelgyro.getRotationX() - agoffset[3];
+    gy = accelgyro.getRotationY() - agoffset[4];
+    gz = accelgyro.getRotationZ() - agoffset[5];
+    
     float sigma_acc =  sqrt(0.000020f);
     float sigma_gyro = sqrt(0.000005f);
     float sigma_mag =  sqrt(0.00001f);
     // gx gy gz ax ay az
     // 加速度値を分解能で割って加速度(G)に変換する
-    acc.x = float(vp.accData[0]) / ACCEL_SSF + sigma_acc*randn();  //FS_SEL_0 16,384 LSB / g
-    acc.y = float(vp.accData[1]) / ACCEL_SSF + sigma_acc*randn();
-    acc.z = float(vp.accData[2]) / ACCEL_SSF + sigma_acc*randn();
+    acc.x = float(vp.accData[0]) / ACCEL_SSF + mapfloat(float(ax) / ACCEL_SSF,accMin[0],accMax[0],-1.0f,1.0f);  //FS_SEL_0 16,384 LSB / g
+    acc.y = float(vp.accData[1]) / ACCEL_SSF + mapfloat(float(ay) / ACCEL_SSF,accMin[1],accMax[1],-1.0f,1.0f);
+    acc.z = float(vp.accData[2]) / ACCEL_SSF + mapfloat(float(az) / ACCEL_SSF,accMin[2],accMax[2],-1.0f,1.0f)-accref.z;
     acc = accMedian.Process(acc);
     // 角速度値を分解能で割って角速度(rad per sec)に変換する
-    gyro.x = float(vp.gyroData[0]) / GYRO_SSF * 0.0174533f + sigma_gyro*randn();  // (rad/s)
-    gyro.y = float(vp.gyroData[1]) / GYRO_SSF * 0.0174533f + sigma_gyro*randn();
-    gyro.z = float(vp.gyroData[2]) / GYRO_SSF * 0.0174533f + sigma_gyro*randn();
+    gyro.x = float(vp.gyroData[0]) / GYRO_SSF * 0.0174533f + float(gx) / GYRO_SSF * 0.0174533f;  // (rad/s)
+    gyro.y = float(vp.gyroData[1]) / GYRO_SSF * 0.0174533f + float(gy) / GYRO_SSF * 0.0174533f;
+    gyro.z = float(vp.gyroData[2]) / GYRO_SSF * 0.0174533f + float(gz) / GYRO_SSF * 0.0174533f;
     gyro = gyroMedian.Process(gyro);
     mag.x = -float(vp.magData[1])/1000.0f + sigma_mag*randn();
     mag.y = -float(vp.magData[0])/1000.0f + sigma_mag*randn();
@@ -34,6 +42,9 @@
         acc.x = 0.0f;
         acc.y = 0.0f;
         acc.z = 1.0f;
+        gyro.x = 0.0f;
+        gyro.y = 0.0f;
+        gyro.z = 0.0f;
         mag.x = 0.113657f;
         mag.y = -0.278425f;
         mag.z = 0.980554f;