From d749e128a80dac55860cffa614acc92c43996803 Mon Sep 17 00:00:00 2001 From: Mike Bernard Date: Thu, 4 Feb 2021 15:21:23 -0500 Subject: [PATCH] add IMU bias variables to mission constants --- src/mission_constants.hh | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/src/mission_constants.hh b/src/mission_constants.hh index f8c86c5..425602d 100644 --- a/src/mission_constants.hh +++ b/src/mission_constants.hh @@ -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