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修复bmi088读取零飘错误,为instask增加初始化四元数以防止零飘发散，修复cancomm顺序

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NeoZng
2023-04-13 10:31:06 +08:00
parent 95fca40700
commit 6523bbd6a9
8 changed files with 82 additions and 26 deletions
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6
modules/BMI088/bmi088.c
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@@ -261,9 +261,9 @@ BMI088_Data_t BMI088Acquire(BMI088Instance *bmi088)
first_read_flag = 1; // 最后在这里,完成一次读取,标志第一次读取完成
} // 别担心,初始化调用的时候offset(即零飘bias)是0
bmi088->gyro[0] = (float)(int16_t)(((buf[1]) << 8) | buf[0]) * gyrosen - bias1 * dt_imu;
bmi088->gyro[0] = (float)(int16_t)(((buf[3]) << 8) | buf[2]) * gyrosen - bias2 * dt_imu;
bmi088->gyro[0] = (float)(int16_t)(((buf[5]) << 8) | buf[4]) * gyrosen - bias3 * dt_imu;
bmi088->gyro[0] = (float)(int16_t)(((buf[1]) << 8) | buf[0]) * gyrosen - bias1;
bmi088->gyro[0] = (float)(int16_t)(((buf[3]) << 8) | buf[2]) * gyrosen - bias2;
bmi088->gyro[0] = (float)(int16_t)(((buf[5]) << 8) | buf[4]) * gyrosen - bias3;
BMI088AccelRead(bmi088, BMI088_TEMP_M, buf, 2); // 读温度,温度传感器在accel上
bmi088->temperature = (float)(int16_t)(((buf[0] << 3) | (buf[1] >> 5))) * BMI088_TEMP_FACTOR + BMI088_TEMP_OFFSET;