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[imu] scaling based on range for MPU9250 IMUs

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This commit is contained in:
Felix Ruess
2017-02-12 17:00:40 +01:00
parent b53e1d96a9
commit 6ca62208ff
4 changed files with 58 additions and 74 deletions
Download Patch File Download Diff File Expand all files Collapse all files
sw/airborne/subsystems/imu/imu_mpu9250_i2c.c
-7
View File
@@ -61,14 +61,7 @@ PRINT_CONFIG_VAR(IMU_MPU9250_SMPLRT_DIV)
PRINT_CONFIG_VAR(IMU_MPU9250_GYRO_LOWPASS_FILTER)
PRINT_CONFIG_VAR(IMU_MPU9250_ACCEL_LOWPASS_FILTER)
#ifndef IMU_MPU9250_GYRO_RANGE
#define IMU_MPU9250_GYRO_RANGE MPU9250_GYRO_RANGE_1000
#endif
PRINT_CONFIG_VAR(IMU_MPU9250_GYRO_RANGE)
#ifndef IMU_MPU9250_ACCEL_RANGE
#define IMU_MPU9250_ACCEL_RANGE MPU9250_ACCEL_RANGE_8G
#endif
PRINT_CONFIG_VAR(IMU_MPU9250_ACCEL_RANGE)
#ifndef IMU_MPU9250_I2C_ADDR
sw/airborne/subsystems/imu/imu_mpu9250_i2c.h
+29 -30
View File
@@ -35,39 +35,38 @@
#include "peripherals/mpu9250_i2c.h"
/** default gyro sensitivy and neutral from the datasheet
* MPU with 1000 deg/s has 32.8 LSB/(deg/s)
* sens = 1/32.8 * pi/180 * 2^INT32_RATE_FRAC
* sens = 1/32.8 * pi/180 * 4096 = 2.17953
I*/
#if !defined IMU_GYRO_P_SENS & !defined IMU_GYRO_Q_SENS & !defined IMU_GYRO_R_SENS
// FIXME
#define IMU_GYRO_P_SENS 2.17953
#define IMU_GYRO_P_SENS_NUM 18271
#define IMU_GYRO_P_SENS_DEN 8383
#define IMU_GYRO_Q_SENS 2.17953
#define IMU_GYRO_Q_SENS_NUM 18271
#define IMU_GYRO_Q_SENS_DEN 8383
#define IMU_GYRO_R_SENS 2.17953
#define IMU_GYRO_R_SENS_NUM 18271
#define IMU_GYRO_R_SENS_DEN 8383
#ifndef IMU_MPU9250_GYRO_RANGE
#define IMU_MPU9250_GYRO_RANGE MPU9250_GYRO_RANGE_1000
#endif
/** default accel sensitivy from the datasheet
* MPU with 8g has 4096 LSB/g
* sens = 9.81 [m/s^2] / 4096 [LSB/g] * 2^INT32_ACCEL_FRAC = 2.4525
*/
#ifndef IMU_MPU9250_ACCEL_RANGE
#define IMU_MPU9250_ACCEL_RANGE MPU9250_ACCEL_RANGE_8G
#endif
// Set default sensitivity based on range if needed
#if !defined IMU_GYRO_P_SENS & !defined IMU_GYRO_Q_SENS & !defined IMU_GYRO_R_SENS
#define IMU_GYRO_P_SENS MPU9250_GYRO_SENS[IMU_MPU9250_GYRO_RANGE]
#define IMU_GYRO_P_SENS_NUM MPU9250_GYRO_SENS_FRAC[IMU_MPU9250_GYRO_RANGE][0]
#define IMU_GYRO_P_SENS_DEN MPU9250_GYRO_SENS_FRAC[IMU_MPU9250_GYRO_RANGE][1]
#define IMU_GYRO_Q_SENS MPU9250_GYRO_SENS[IMU_MPU9250_GYRO_RANGE]
#define IMU_GYRO_Q_SENS_NUM MPU9250_GYRO_SENS_FRAC[IMU_MPU9250_GYRO_RANGE][0]
#define IMU_GYRO_Q_SENS_DEN MPU9250_GYRO_SENS_FRAC[IMU_MPU9250_GYRO_RANGE][1]
#define IMU_GYRO_R_SENS MPU9250_GYRO_SENS[IMU_MPU9250_GYRO_RANGE]
#define IMU_GYRO_R_SENS_NUM MPU9250_GYRO_SENS_FRAC[IMU_MPU9250_GYRO_RANGE][0]
#define IMU_GYRO_R_SENS_DEN MPU9250_GYRO_SENS_FRAC[IMU_MPU9250_GYRO_RANGE][1]
#endif
// Set default sensitivity based on range if needed
#if !defined IMU_ACCEL_X_SENS & !defined IMU_ACCEL_Y_SENS & !defined IMU_ACCEL_Z_SENS
// FIXME
#define IMU_ACCEL_X_SENS 2.4525
#define IMU_ACCEL_X_SENS_NUM 981
#define IMU_ACCEL_X_SENS_DEN 400
#define IMU_ACCEL_Y_SENS 2.4525
#define IMU_ACCEL_Y_SENS_NUM 981
#define IMU_ACCEL_Y_SENS_DEN 400
#define IMU_ACCEL_Z_SENS 2.4525
#define IMU_ACCEL_Z_SENS_NUM 981
#define IMU_ACCEL_Z_SENS_DEN 400
#define IMU_ACCEL_X_SENS MPU9250_ACCEL_SENS[IMU_MPU9250_ACCEL_RANGE]
#define IMU_ACCEL_X_SENS_NUM MPU9250_ACCEL_SENS_FRAC[IMU_MPU9250_ACCEL_RANGE][0]
#define IMU_ACCEL_X_SENS_DEN MPU9250_ACCEL_SENS_FRAC[IMU_MPU9250_ACCEL_RANGE][1]
#define IMU_ACCEL_Y_SENS MPU9250_ACCEL_SENS[IMU_MPU9250_ACCEL_RANGE]
#define IMU_ACCEL_Y_SENS_NUM MPU9250_ACCEL_SENS_FRAC[IMU_MPU9250_ACCEL_RANGE][0]
#define IMU_ACCEL_Y_SENS_DEN MPU9250_ACCEL_SENS_FRAC[IMU_MPU9250_ACCEL_RANGE][1]
#define IMU_ACCEL_Z_SENS MPU9250_ACCEL_SENS[IMU_MPU9250_ACCEL_RANGE]
#define IMU_ACCEL_Z_SENS_NUM MPU9250_ACCEL_SENS_FRAC[IMU_MPU9250_ACCEL_RANGE][0]
#define IMU_ACCEL_Z_SENS_DEN MPU9250_ACCEL_SENS_FRAC[IMU_MPU9250_ACCEL_RANGE][1]
#endif
sw/airborne/subsystems/imu/imu_mpu9250_spi.c
-7
View File
@@ -67,14 +67,7 @@ PRINT_CONFIG_VAR(IMU_MPU9250_SMPLRT_DIV)
PRINT_CONFIG_VAR(IMU_MPU9250_GYRO_LOWPASS_FILTER)
PRINT_CONFIG_VAR(IMU_MPU9250_ACCEL_LOWPASS_FILTER)
#ifndef IMU_MPU9250_GYRO_RANGE
#define IMU_MPU9250_GYRO_RANGE MPU9250_GYRO_RANGE_1000
#endif
PRINT_CONFIG_VAR(IMU_MPU9250_GYRO_RANGE)
#ifndef IMU_MPU9250_ACCEL_RANGE
#define IMU_MPU9250_ACCEL_RANGE MPU9250_ACCEL_RANGE_8G
#endif
PRINT_CONFIG_VAR(IMU_MPU9250_ACCEL_RANGE)
// Default channels order
sw/airborne/subsystems/imu/imu_mpu9250_spi.h
+29 -30
View File
@@ -35,39 +35,38 @@
#include "peripherals/mpu9250_spi.h"
/** default gyro sensitivy and neutral from the datasheet
* MPU with 1000 deg/s has 32.8 LSB/(deg/s)
* sens = 1/32.8 * pi/180 * 2^INT32_RATE_FRAC
* sens = 1/32.8 * pi/180 * 4096 = 2.17953
I*/
#if !defined IMU_GYRO_P_SENS & !defined IMU_GYRO_Q_SENS & !defined IMU_GYRO_R_SENS
// FIXME
#define IMU_GYRO_P_SENS 2.17953
#define IMU_GYRO_P_SENS_NUM 18271
#define IMU_GYRO_P_SENS_DEN 8383
#define IMU_GYRO_Q_SENS 2.17953
#define IMU_GYRO_Q_SENS_NUM 18271
#define IMU_GYRO_Q_SENS_DEN 8383
#define IMU_GYRO_R_SENS 2.17953
#define IMU_GYRO_R_SENS_NUM 18271
#define IMU_GYRO_R_SENS_DEN 8383
#ifndef IMU_MPU9250_GYRO_RANGE
#define IMU_MPU9250_GYRO_RANGE MPU9250_GYRO_RANGE_1000
#endif
/** default accel sensitivy from the datasheet
* MPU with 8g has 4096 LSB/g
* sens = 9.81 [m/s^2] / 4096 [LSB/g] * 2^INT32_ACCEL_FRAC = 2.4525
*/
#ifndef IMU_MPU9250_ACCEL_RANGE
#define IMU_MPU9250_ACCEL_RANGE MPU9250_ACCEL_RANGE_8G
#endif
// Set default sensitivity based on range if needed
#if !defined IMU_GYRO_P_SENS & !defined IMU_GYRO_Q_SENS & !defined IMU_GYRO_R_SENS
#define IMU_GYRO_P_SENS MPU9250_GYRO_SENS[IMU_MPU9250_GYRO_RANGE]
#define IMU_GYRO_P_SENS_NUM MPU9250_GYRO_SENS_FRAC[IMU_MPU9250_GYRO_RANGE][0]
#define IMU_GYRO_P_SENS_DEN MPU9250_GYRO_SENS_FRAC[IMU_MPU9250_GYRO_RANGE][1]
#define IMU_GYRO_Q_SENS MPU9250_GYRO_SENS[IMU_MPU9250_GYRO_RANGE]
#define IMU_GYRO_Q_SENS_NUM MPU9250_GYRO_SENS_FRAC[IMU_MPU9250_GYRO_RANGE][0]
#define IMU_GYRO_Q_SENS_DEN MPU9250_GYRO_SENS_FRAC[IMU_MPU9250_GYRO_RANGE][1]
#define IMU_GYRO_R_SENS MPU9250_GYRO_SENS[IMU_MPU9250_GYRO_RANGE]
#define IMU_GYRO_R_SENS_NUM MPU9250_GYRO_SENS_FRAC[IMU_MPU9250_GYRO_RANGE][0]
#define IMU_GYRO_R_SENS_DEN MPU9250_GYRO_SENS_FRAC[IMU_MPU9250_GYRO_RANGE][1]
#endif
// Set default sensitivity based on range if needed
#if !defined IMU_ACCEL_X_SENS & !defined IMU_ACCEL_Y_SENS & !defined IMU_ACCEL_Z_SENS
// FIXME
#define IMU_ACCEL_X_SENS 2.4525
#define IMU_ACCEL_X_SENS_NUM 981
#define IMU_ACCEL_X_SENS_DEN 400
#define IMU_ACCEL_Y_SENS 2.4525
#define IMU_ACCEL_Y_SENS_NUM 981
#define IMU_ACCEL_Y_SENS_DEN 400
#define IMU_ACCEL_Z_SENS 2.4525
#define IMU_ACCEL_Z_SENS_NUM 981
#define IMU_ACCEL_Z_SENS_DEN 400
#define IMU_ACCEL_X_SENS MPU9250_ACCEL_SENS[IMU_MPU9250_ACCEL_RANGE]
#define IMU_ACCEL_X_SENS_NUM MPU9250_ACCEL_SENS_FRAC[IMU_MPU9250_ACCEL_RANGE][0]
#define IMU_ACCEL_X_SENS_DEN MPU9250_ACCEL_SENS_FRAC[IMU_MPU9250_ACCEL_RANGE][1]
#define IMU_ACCEL_Y_SENS MPU9250_ACCEL_SENS[IMU_MPU9250_ACCEL_RANGE]
#define IMU_ACCEL_Y_SENS_NUM MPU9250_ACCEL_SENS_FRAC[IMU_MPU9250_ACCEL_RANGE][0]
#define IMU_ACCEL_Y_SENS_DEN MPU9250_ACCEL_SENS_FRAC[IMU_MPU9250_ACCEL_RANGE][1]
#define IMU_ACCEL_Z_SENS MPU9250_ACCEL_SENS[IMU_MPU9250_ACCEL_RANGE]
#define IMU_ACCEL_Z_SENS_NUM MPU9250_ACCEL_SENS_FRAC[IMU_MPU9250_ACCEL_RANGE][0]
#define IMU_ACCEL_Z_SENS_DEN MPU9250_ACCEL_SENS_FRAC[IMU_MPU9250_ACCEL_RANGE][1]
#endif