From 1b20c5028884c593f4994b3e9afce5c1d6177583 Mon Sep 17 00:00:00 2001 From: Mike Bernard Date: Tue, 10 Nov 2020 23:00:56 -0500 Subject: [PATCH] add IMU_ACC_BIAS mission constant --- src/mission_constants.hh | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/mission_constants.hh b/src/mission_constants.hh index 2e346a8..07291fa 100644 --- a/src/mission_constants.hh +++ b/src/mission_constants.hh @@ -60,9 +60,10 @@ const float LSB_LINEAR = 2048.0; // (milli-gee/LSB) note documentation gives in const float LSB_ANGULAR = 131.0; // (deg/s/LSB) note documentation gives incorrectly inverted units /* These bias calibration values account for sensor bias - * in linear acceleration measurements. + * in linear acceleration measurements. Can't be declared + * a const since it's calculated on the fly every startup. */ -// TODO: add offset vars +int16_t IMU_ACC_BIAS[3]; // (count) IMU linear acceleration along each axis // LEDs const int B_LED_1 = 6; // TODO: add description @@ -86,7 +87,6 @@ const int GEAR = 9; // TODO: add description const float DAMPER = 1.5; // TODO: add description const int TVC_DELAY = 10; // TODO: add description - // TODO: define these quaternions based on IMU installation in rocket const float QR_IMU_TO_BODY[4] = {1.0, 0.0, 0.0, 0.0}; // (--) right, scalar-first, Hamiltonian quaternion transforming IMU frame to body frame const float QR_BODY_TO_IMU[4] = {1.0, 0.0, 0.0, 0.0}; // (--) right, scalar-first, Hamiltonian quaternion transforming body frame to IMU frame