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fix(Magnetometer): 

Fixed Yaw Calculation
This commit is contained in:
Devoalda 2023-10-27 19:54:22 +08:00
parent 5c70e4d1b7
commit 9ae974deab
3 changed files with 14 additions and 10 deletions
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12
frtos/config/magnetometer_config.h
View File

@ -10,6 +10,18 @@
#define ALPHA ( 0.01f ) // Complementary
// Filter Constant
// LSM303DLHC temperature compensation coefficients
#define SCALE_Z ( 1.0f ) // Scale for Z-axis
#define OFFSET_Z ( 3.0f ) // Offset for Z-axis
#define TEMPERATURE_OFFSET ( 25.0f ) // Reference
// temperature for
// calibration
#define TEMPERATURE_COEFFICIENT_Z ( 0.33f ) // Temperature
// coefficient for
// Z-axis
/**
* @brief The orientation of the car
*/

8
frtos/magnetometer/LSM303DLHC_register.h
View File

@ -28,15 +28,7 @@
#define LSM303_TEMP_OUT_H_M 0x31
#define LSM303_TEMP_OUT_L_M 0x32
// LSM303DLHC temperature compensation coefficients
#define SCALE_Z 0.9 // Scale factor for Z-axis
#define OFFSET_Z 5.0 // Offset for Z-axis
#define TEMPERATURE_OFFSET 25.0 // Reference temperature for calibration
#define TEMPERATURE_COEFFICIENT_Z 0.33
#define OFFSET_Z 5.0
#define SCALE_Z 0.9
#define ACCEL_ADDR 0x19
#define MAG_ADDR 0x1E

4
frtos/magnetometer/magnetometer_test.c
View File

@ -30,9 +30,9 @@ main (void)
{
stdio_usb_init();
sleep_ms(2000);
// sleep_ms(2000);
printf("Test started!\n");
// printf("Test started!\n");
magnetometer_init();
launch();