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Убрано влияние гравитации на показания акселерометра

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Раджаб Бисултанов
2026-03-31 17:02:53 +03:00
parent 3066b28f75
commit 99552ceedb
2 changed files with 2 additions and 2 deletions
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2
Source/BSP/Src/imu_processing.c
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@@ -37,7 +37,7 @@ void imu_read_scaled(imu_scaled_t* out)
out->ax = raw.ax / ACCEL_SENS_SCALE_FACTOR - accel_bias_x; out->ax = raw.ax / ACCEL_SENS_SCALE_FACTOR - accel_bias_x;
out->ay = raw.ay / ACCEL_SENS_SCALE_FACTOR - accel_bias_y; out->ay = raw.ay / ACCEL_SENS_SCALE_FACTOR - accel_bias_y;
out->az = raw.az / ACCEL_SENS_SCALE_FACTOR - accel_bias_z; out->az = raw.az / ACCEL_SENS_SCALE_FACTOR - accel_bias_z + 1;
out->ax = biquad_apply(&accel_x_lpf, out->ax); out->ax = biquad_apply(&accel_x_lpf, out->ax);
out->ay = biquad_apply(&accel_y_lpf, out->ay); out->ay = biquad_apply(&accel_y_lpf, out->ay);

2
Source/INS/IRS.c
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@@ -31,7 +31,7 @@ void IRS_update(IRS* irs, float dt)
// accel update // accel update
Vector3 accel = {irs->accel.x, irs->accel.y, -irs->accel.z}; Vector3 accel = {irs->accel.x, irs->accel.y, irs->accel.z};
restoreQuat(irs, &accel); restoreQuat(irs, &accel);
// /accel update // /accel update