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add IMU bias variables to mission constants
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mdb15106 committed Feb 4, 2021
1 parent a297664 commit d749e12
Showing 1 changed file with 5 additions and 3 deletions.
8 changes: 5 additions & 3 deletions src/mission_constants.hh
Original file line number Diff line number Diff line change
Expand Up @@ -62,10 +62,12 @@ const float LSB_LINEAR = 2048.0; // (milli-gee/count) note documentation gives
const float LSB_ANGULAR = 131.0; // (deg/s/count) note documentation gives incorrectly inverted units

/* These bias calibration values account for sensor bias
* in linear acceleration measurements. Can't be declared
* a const since it's calculated on the fly every startup.
* in linear acceleration and angular velocity measurements.
* Can't be declared a const since it's calculated
* on-the-fly every startup.
*/
int16_t IMU_ACC_BIAS[3]; // (count) IMU linear acceleration along each axis
int16_t IMU_LIN_ACC_BIAS[3]; // (count) IMU linear acceleration bias along each axis
int16_t IMU_ANG_VEL_BIAS[3]; // (count) IMU angular velocity bias about each axis

// LEDs
//TODO:modify values
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