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Imu scale float (#3477)

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* [imu] Use floats for scaling

* [imu] default scales float

* [imu] update comments

* Fix print function

* [imu] fix calibration

* [imu] calibration in float

* [imu] remove old calibration generation.
compilation error if IMU_IMU_ACCEL_CALIB is defined.

* remove static operations

Co-authored-by: Gautier Hattenberger <gautier.hattenberger@enac.fr>

* clarify scales

---------

Co-authored-by: Fabien-B <Fabien-B@github.com>
Co-authored-by: Gautier Hattenberger <gautier.hattenberger@enac.fr>
This commit is contained in:
Fabien-B
2025-06-25 13:27:53 +02:00
committed by GitHub
parent 993198a418
commit 4df4c8436b
32 changed files with 233 additions and 401 deletions
Download Patch File Download Diff File Expand all files Collapse all files
conf/simulator/nps/nps_sensors_params_common.h
-36
View File
@@ -60,30 +60,18 @@
#ifdef IMU_ACCEL_X_SENS
#define NPS_ACCEL_SENSITIVITY_XX ACCEL_BFP_OF_REAL(1./IMU_ACCEL_X_SENS)
#define NPS_ACCEL_SENSITIVITY_XX_NUM ACCEL_BFP_OF_REAL(1./IMU_ACCEL_X_SENS_NUM)
#define NPS_ACCEL_SENSITIVITY_XX_DEN ACCEL_BFP_OF_REAL(1./IMU_ACCEL_X_SENS_DEN)
#else
#define NPS_ACCEL_SENSITIVITY_XX ACCEL_BFP_OF_REAL(1.)
#define NPS_ACCEL_SENSITIVITY_XX_NUM 1
#define NPS_ACCEL_SENSITIVITY_XX_DEN 1
#endif
#ifdef IMU_ACCEL_Y_SENS
#define NPS_ACCEL_SENSITIVITY_YY ACCEL_BFP_OF_REAL(1./IMU_ACCEL_Y_SENS)
#define NPS_ACCEL_SENSITIVITY_YY_NUM ACCEL_BFP_OF_REAL(1./IMU_ACCEL_Y_SENS_NUM)
#define NPS_ACCEL_SENSITIVITY_YY_DEN ACCEL_BFP_OF_REAL(1./IMU_ACCEL_Y_SENS_DEN)
#else
#define NPS_ACCEL_SENSITIVITY_YY ACCEL_BFP_OF_REAL(1.)
#define NPS_ACCEL_SENSITIVITY_YY_NUM 1
#define NPS_ACCEL_SENSITIVITY_YY_DEN 1
#endif
#ifdef IMU_ACCEL_Z_SENS
#define NPS_ACCEL_SENSITIVITY_ZZ ACCEL_BFP_OF_REAL(1./IMU_ACCEL_Z_SENS)
#define NPS_ACCEL_SENSITIVITY_ZZ_NUM ACCEL_BFP_OF_REAL(1./IMU_ACCEL_Z_SENS_NUM)
#define NPS_ACCEL_SENSITIVITY_ZZ_DEN ACCEL_BFP_OF_REAL(1./IMU_ACCEL_Z_SENS_DEN)
#else
#define NPS_ACCEL_SENSITIVITY_ZZ ACCEL_BFP_OF_REAL(1.)
#define NPS_ACCEL_SENSITIVITY_ZZ_NUM 1
#define NPS_ACCEL_SENSITIVITY_ZZ_DEN 1
#endif
#ifdef IMU_ACCEL_X_NEUTRAL
@@ -142,30 +130,18 @@
#ifdef IMU_GYRO_P_SENS
#define NPS_GYRO_SENSITIVITY_PP RATE_BFP_OF_REAL(1./IMU_GYRO_P_SENS)
#define NPS_GYRO_SENSITIVITY_PP_NUM RATE_BFP_OF_REAL(1./IMU_GYRO_P_SENS_NUM)
#define NPS_GYRO_SENSITIVITY_PP_DEN RATE_BFP_OF_REAL(1./IMU_GYRO_P_SENS_DEN)
#else
#define NPS_GYRO_SENSITIVITY_PP RATE_BFP_OF_REAL(1.)
#define NPS_GYRO_SENSITIVITY_PP_NUM 1
#define NPS_GYRO_SENSITIVITY_PP_DEN 1
#endif
#ifdef IMU_GYRO_Q_SENS
#define NPS_GYRO_SENSITIVITY_QQ RATE_BFP_OF_REAL(1./IMU_GYRO_Q_SENS)
#define NPS_GYRO_SENSITIVITY_QQ_NUM RATE_BFP_OF_REAL(1./IMU_GYRO_Q_SENS_NUM)
#define NPS_GYRO_SENSITIVITY_QQ_DEN RATE_BFP_OF_REAL(1./IMU_GYRO_Q_SENS_DEN)
#else
#define NPS_GYRO_SENSITIVITY_QQ RATE_BFP_OF_REAL(1.)
#define NPS_GYRO_SENSITIVITY_QQ_NUM 1
#define NPS_GYRO_SENSITIVITY_QQ_DEN 1
#endif
#ifdef IMU_GYRO_R_SENS
#define NPS_GYRO_SENSITIVITY_RR RATE_BFP_OF_REAL(1./IMU_GYRO_R_SENS)
#define NPS_GYRO_SENSITIVITY_RR_NUM RATE_BFP_OF_REAL(1./IMU_GYRO_R_SENS_NUM)
#define NPS_GYRO_SENSITIVITY_RR_DEN RATE_BFP_OF_REAL(1./IMU_GYRO_R_SENS_DEN)
#else
#define NPS_GYRO_SENSITIVITY_RR RATE_BFP_OF_REAL(1.)
#define NPS_GYRO_SENSITIVITY_RR_NUM 1
#define NPS_GYRO_SENSITIVITY_RR_DEN 1
#endif
#ifdef IMU_GYRO_P_NEUTRAL
@@ -232,30 +208,18 @@
#ifdef IMU_MAG_X_SENS
#define NPS_MAG_SENSITIVITY_XX MAG_BFP_OF_REAL(1./IMU_MAG_X_SENS)
#define NPS_MAG_SENSITIVITY_XX_NUM MAG_BFP_OF_REAL(1./IMU_MAG_X_SENS_NUM)
#define NPS_MAG_SENSITIVITY_XX_DEN MAG_BFP_OF_REAL(1./IMU_MAG_X_SENS_DEN)
#else
#define NPS_MAG_SENSITIVITY_XX MAG_BFP_OF_REAL(1.)
#define NPS_MAG_SENSITIVITY_XX_NUM 1
#define NPS_MAG_SENSITIVITY_XX_DEN 1
#endif
#ifdef IMU_MAG_Y_SENS
#define NPS_MAG_SENSITIVITY_YY MAG_BFP_OF_REAL(1./IMU_MAG_Y_SENS)
#define NPS_MAG_SENSITIVITY_YY_NUM MAG_BFP_OF_REAL(1./IMU_MAG_Y_SENS_NUM)
#define NPS_MAG_SENSITIVITY_YY_DEN MAG_BFP_OF_REAL(1./IMU_MAG_Y_SENS_DEN)
#else
#define NPS_MAG_SENSITIVITY_YY MAG_BFP_OF_REAL(1.)
#define NPS_MAG_SENSITIVITY_YY_NUM 1
#define NPS_MAG_SENSITIVITY_YY_DEN 1
#endif
#ifdef IMU_MAG_Z_SENS
#define NPS_MAG_SENSITIVITY_ZZ MAG_BFP_OF_REAL(1./IMU_MAG_Z_SENS)
#define NPS_MAG_SENSITIVITY_ZZ_NUM MAG_BFP_OF_REAL(1./IMU_MAG_Z_SENS_NUM)
#define NPS_MAG_SENSITIVITY_ZZ_DEN MAG_BFP_OF_REAL(1./IMU_MAG_Z_SENS_DEN)
#else
#define NPS_MAG_SENSITIVITY_ZZ MAG_BFP_OF_REAL(1.)
#define NPS_MAG_SENSITIVITY_ZZ_NUM 1
#define NPS_MAG_SENSITIVITY_ZZ_DEN 1
#endif
#ifdef IMU_MAG_X_NEUTRAL