バイナリフォーマットでデータ送信します#5
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@mmaakkyyii |
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手元のvscodeで開いたとき勝手に成形されてそうでした。何か直した方がいいでしょうか？ |
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arduinoのデフォルトでフォーマットしてもらえますか？ https://docs.arduino.cc/software/ide-v2/tutorials/ide-v2-customize-auto-formatter/ |
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auto formatかけました |
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@mmaakkyyii |
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| const unsigned char accScale[4] = { 0x04, 0x00, 0x00, 0x00 }; | ||
| result = writeDMPmems(ACC_SCALE, 4, &accScale[0]); | ||
| if (result > worstResult) | ||
| worstResult = result; // Write accScale to ACC_SCALE DMP register | ||
| // In order to output hardware unit data as configured FSR write 0x00040000 when FSR is 4g | ||
| const unsigned char accScale2[4] = {0x00, 0x04, 0x00, 0x00}; | ||
| result = writeDMPmems(ACC_SCALE2, 4, &accScale2[0]); if (result > worstResult) worstResult = result; // Write accScale2 to ACC_SCALE2 DMP register | ||
| const unsigned char accScale2[4] = { 0x00, 0x04, 0x00, 0x00 }; |
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myFSS.a = gpm16;に変更してたのでこちらの加速度スケールのパラメータも変更が必要そうです
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ファームウェア修正前後でIMUを縦に傾けた状態から水平にする動きをして姿勢をみましたが 修正前 |
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今確認中なんですが、加速度のレンジおかしくなってますね |
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加速度の値が大きい問題は手元でも確認できました 変更箇所 |
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4g IMG_4091.mov |
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内部変数を整数型で扱うためにスケールしてそれを元に戻すためにACC_Scale2は逆数をとる必要あるみたいでした。 |
Co-authored-by: hatakeyamayuta <hatahata4@gmail.com>
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What does this implement/fix?
Does this close any currently open issues?
#4
How has this been tested?
実機動作確認済みです
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