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Merge pull request #652 from ey6es/master

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Improved compass fusion for gyros.
This commit is contained in:
ZappoMan 2013-07-11 13:55:40 -07:00
commit f878d549c0
2 changed files with 4 additions and 4 deletions
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4
interface/src/SerialInterface.cpp
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@ -31,7 +31,7 @@ const short NO_READ_MAXIMUM_MSECS = 3000;
const int GRAVITY_SAMPLES = 60; // Use the first few samples to baseline values
const int NORTH_SAMPLES = 30;
const int ACCELERATION_SENSOR_FUSION_SAMPLES = 20;
const int COMPASS_SENSOR_FUSION_SAMPLES = 200;
const int COMPASS_SENSOR_FUSION_SAMPLES = 100;
const int LONG_TERM_RATE_SAMPLES = 1000;
const bool USING_INVENSENSE_MPU9150 = 1;
@ -383,7 +383,7 @@ void SerialInterface::resetSerial() {
glm::vec3 SerialInterface::recenterCompass(const glm::vec3& compass) {
// compensate for "hard iron" distortion by subtracting the midpoint on each axis; see
// http://www.sensorsmag.com/sensors/motion-velocity-displacement/compensating-tilt-hard-iron-and-soft-iron-effects-6475
return compass - (_compassMinima + _compassMaxima) * 0.5f;
return (compass - (_compassMinima + _compassMaxima) * 0.5f) / (_compassMaxima - _compassMinima);
}

4
interface/src/SerialInterface.h
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@ -33,8 +33,8 @@ public:
_estimatedVelocity(0, 0, 0),
_lastAcceleration(0, 0, 0),
_lastRotationRates(0, 0, 0),
_compassMinima(-235, -132, -184), // experimentally derived initial values follow
_compassMaxima(83, 155, 120),
_compassMinima(-211, -132, -186),
_compassMaxima(89, 95, 98),
_angularVelocityToLinearAccel(
0.003f, -0.001f, -0.006f,
-0.005f, -0.001f, -0.006f,