Joseph Roberts / FreeIMU

10DOF FreeIMU port for FreeIMU v4 board and GY-86. This library was modified extensively to specifically suit the Mbed platform. Used threads and interrupts to achieve async mode.

Dependencies:   HMC58X3 MODI2C MPU6050 MS561101BA

Fork of FreeIMU by Yifei Teng

Files at this revision

API Documentation at this revision

Revision 9:a79af1283446, committed 2014-01-10

Comitter:
tyftyftyf
Date:
Fri Jan 10 05:41:40 2014 +0000
Parent:
8:cd43764b9623
Child:
10:4e8ac6acd336
Commit message:
Tuning parameters

Changed in this revision

FreeIMU.cpp Show annotated file Show diff for this revision Revisions of this file
FreeIMU.h Show annotated file Show diff for this revision Revisions of this file
HMC58X3.lib Show annotated file Show diff for this revision Revisions of this file
calibration.h Show annotated file Show diff for this revision Revisions of this file 
--- a/FreeIMU.cpp	Mon Dec 23 09:41:27 2013 +0000
+++ b/FreeIMU.cpp	Fri Jan 10 05:41:40 2014 +0000
@@ -45,8 +45,8 @@
     twoKp = twoKpDef;
     twoKi = twoKiDef;
     
-    twoKiz = twoKiDef / 6.0;
-    twoKpz = twoKpDef * 8.0;
+    twoKiz = twoKiDef / 4.0;
+    twoKpz = twoKpDef * 6.0;
     
     integralFBx = 0.0f,  integralFBy = 0.0f, integralFBz = 0.0f;
 
@@ -246,7 +246,7 @@
 */
 void FreeIMU::zeroGyro()
 {
-    const int totSamples = 8;
+    const int totSamples = 64;
     int16_t raw[11];
     float tmpOffsets[] = {0,0,0};
 
@@ -255,7 +255,7 @@
         tmpOffsets[0] += raw[3];
         tmpOffsets[1] += raw[4];
         tmpOffsets[2] += raw[5];
-        Thread::wait(2);
+        Thread::wait(3);
     }
 
     gyro_off_x = tmpOffsets[0] / totSamples;
@@ -263,7 +263,7 @@
     gyro_off_z = tmpOffsets[2] / totSamples;
 }
 
-extern bool magn_valid;
+extern volatile bool magn_valid;
 
 /**
  * Quaternion implementation of the 'DCM filter' [Mayhony et al].  Incorporates the magnetic distortion

--- a/FreeIMU.h	Mon Dec 23 09:41:27 2013 +0000
+++ b/FreeIMU.h	Fri Jan 10 05:41:40 2014 +0000
@@ -106,8 +106,8 @@
 // HMC5843 address is fixed so don't bother to define it
 
 
-#define twoKpDef  (2.0f * 1.0f) // 2 * proportional gain
-#define twoKiDef  (2.0f * 0.6f) // 2 * integral gain
+#define twoKpDef  (2.0f * 3.0f) // 2 * proportional gain
+#define twoKiDef  (2.0f * 0.4f) // 2 * integral gain
 
 #ifndef cbi
 #define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit))

--- a/HMC58X3.lib	Mon Dec 23 09:41:27 2013 +0000
+++ b/HMC58X3.lib	Fri Jan 10 05:41:40 2014 +0000
@@ -1,1 +1,1 @@
-http://mbed.org/users/tyftyftyf/code/HMC58X3/#8eb12adc8368
+http://mbed.org/users/tyftyftyf/code/HMC58X3/#ea869bfe993b

--- a/calibration.h	Mon Dec 23 09:41:27 2013 +0000
+++ b/calibration.h	Fri Jan 10 05:41:40 2014 +0000
@@ -7,16 +7,16 @@
 
 #define CALIBRATION_H
 
-const int acc_off_x = 291;
-const int acc_off_y = -236;
-const int acc_off_z = -2330;
-const float acc_scale_x = 15073.187570;
-const float acc_scale_y = 16496.811960;
-const float acc_scale_z = 16887.470139;
+const int acc_off_x = 72;
+const int acc_off_y = -8;
+const int acc_off_z = 211;
+const float acc_scale_x = 15827.435944;
+const float acc_scale_y = 16533.974047;
+const float acc_scale_z = 16841.679423;
 
-const int magn_off_x = 41;
-const int magn_off_y = -67;
-const int magn_off_z = -150;
-const float magn_scale_x = 486.457717;
-const float magn_scale_y = 503.317575;
-const float magn_scale_z = 410.482174;
+const int magn_off_x = 56;
+const int magn_off_y = -73;
+const int magn_off_z = -145;
+const float magn_scale_x = 753.324584;
+const float magn_scale_y = 742.324931;
+const float magn_scale_z = 632.931308;