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This commit is contained in:
Antoine Drouin
2008-07-04 10:06:19 +00:00
parent 3e3df6fe19
commit b366fedf59
2 changed files with 28 additions and 11 deletions
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sw/simulator/booz_sensors_model_mag.c
+10 -10
View File
@@ -19,23 +19,23 @@ void booz_sensors_model_mag_init( double time ) {
bsm.mag->ve[AXIS_X] = 0.;
bsm.mag->ve[AXIS_Y] = 0.;
bsm.mag->ve[AXIS_Z] = 0.;
bsm.mag_resolution = 4096;
bsm.mag_resolution = BSM_MAG_RESOLUTION;
bsm.mag_sensitivity = m_get(AXIS_NB, AXIS_NB);
m_zero(bsm.mag_sensitivity);
bsm.mag_sensitivity->me[AXIS_X][AXIS_X] = -(double)bsm.mag_resolution / 6.;
bsm.mag_sensitivity->me[AXIS_Y][AXIS_Y] = -(double)bsm.mag_resolution / 6.;
bsm.mag_sensitivity->me[AXIS_Z][AXIS_Z] = (double)bsm.mag_resolution / 6.;
bsm.mag_sensitivity->me[AXIS_X][AXIS_X] = BSM_MAG_SENSITIVITY_XX;
bsm.mag_sensitivity->me[AXIS_Y][AXIS_Y] = BSM_MAG_SENSITIVITY_YY;
bsm.mag_sensitivity->me[AXIS_Z][AXIS_Z] = BSM_MAG_SENSITIVITY_ZZ;
bsm.mag_neutral = v_get(AXIS_NB);
bsm.mag_neutral->ve[AXIS_X] = 0.;
bsm.mag_neutral->ve[AXIS_Y] = 0.;
bsm.mag_neutral->ve[AXIS_Z] = 0.;
bsm.mag_neutral->ve[AXIS_X] = BSM_MAG_NEUTRAL_X;
bsm.mag_neutral->ve[AXIS_Y] = BSM_MAG_NEUTRAL_Y;
bsm.mag_neutral->ve[AXIS_Z] = BSM_MAG_NEUTRAL_Z;
bsm.mag_noise_std_dev = v_get(AXIS_NB);
bsm.mag_noise_std_dev->ve[AXIS_X] = 2e-2;
bsm.mag_noise_std_dev->ve[AXIS_Y] = 2e-2;
bsm.mag_noise_std_dev->ve[AXIS_Z] = 2e-2;
bsm.mag_noise_std_dev->ve[AXIS_X] = BSM_MAG_NOISE_STD_DEV_X;
bsm.mag_noise_std_dev->ve[AXIS_Y] = BSM_MAG_NOISE_STD_DEV_Y;
bsm.mag_noise_std_dev->ve[AXIS_Z] = BSM_MAG_NOISE_STD_DEV_Z;
bsm.mag_next_update = time;
bsm.mag_available = FALSE;
sw/simulator/booz_sensors_model_params_booz2.h
+18 -1
View File
@@ -81,8 +81,25 @@
/*
* Magnetometer
*/
#define BSM_MAG_RESOLUTION 4096
#define BSM_MAG_DT (1./20.)
#define BSM_MAG_SENSITIVITY_XX (680)
#define BSM_MAG_SENSITIVITY_YY (680)
#define BSM_MAG_SENSITIVITY_ZZ (680)
#define BSM_MAG_NEUTRAL_X 0
#define BSM_MAG_NEUTRAL_Y 0
#define BSM_MAG_NEUTRAL_Z 0
#define BSM_MAG_NOISE_STD_DEV_X 0
#define BSM_MAG_NOISE_STD_DEV_Y 0
#define BSM_MAG_NOISE_STD_DEV_Z 0
//#define BSM_MAG_NOISE_STD_DEV_X 2e-2
//#define BSM_MAG_NOISE_STD_DEV_Y 2e-2
//#define BSM_MAG_NOISE_STD_DEV_Z 2e-2
#define BSM_MAG_DT (1./1000.)
/*