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Осуществлён переход на кватернионы. Но нужно протестировать

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Раджаб Бисултанов
2026-03-13 16:28:06 +03:00
parent 469ec64d45
commit c3a7907e16
8 changed files with 217 additions and 56 deletions
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6
Source/BSP/Src/imu_processing.c
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@@ -24,9 +24,9 @@ void imu_processing_init()
biquad_init_lpf(&accel_y_lpf, 25.0f, 500.0f);
biquad_init_lpf(&accel_z_lpf, 25.0f, 500.0f);
biquad_init_lpf(&gyro_x_lpf, 25.0f, 500.0f);
biquad_init_lpf(&gyro_y_lpf, 25.0f, 500.0f);
biquad_init_lpf(&gyro_z_lpf, 25.0f, 500.0f);
biquad_init_lpf(&gyro_x_lpf, 100.0f, 500.0f);
biquad_init_lpf(&gyro_y_lpf, 100.0f, 500.0f);
biquad_init_lpf(&gyro_z_lpf, 100.0f, 500.0f);
}
void imu_read_scaled(imu_scaled_t* out)