Включен low pass фильтр датчиков, уменьшен срез биквада

2026-03-12 13:54:48 +03:00
parent c1fab9fcb3
commit 469ec64d45
3 changed files with 20 additions and 8 deletions
--- a/Source/BSP/Src/imu.c
+++ b/Source/BSP/Src/imu.c
@@ -54,10 +54,10 @@ void imu_init()
 	i2c_write(ICM_ADDR, REG_BANK_SEL, 2 << 4);
 	
 	// gyro ~2000 dps, FS_SEL = 3
-	i2c_write(ICM_ADDR, REG_GYRO_CONFIG_1, (3 << 1));
+	i2c_write(ICM_ADDR, REG_GYRO_CONFIG_1, GYRO_FS_SEL_2000 | GYRO_DLPFCFG_73 | GYRO_FCHOICE_ON);
 	
 	// accel ~4g, FS_SEL = 1
-	i2c_write(ICM_ADDR, REG_ACCEL_CONFIG, (1 << 1));
+	i2c_write(ICM_ADDR, REG_ACCEL_CONFIG, ACCEL_FS_SEL_8 | ACCEL_DLPFCFG_69 | ACCEL_FCHOICE_ON);
 	
 	// back to bank 0
 	i2c_write(ICM_ADDR, REG_BANK_SEL, ~(3 << 4));