Add imu filter and #129
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Add imu filter and #129
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Doxygen warnings output: (if empty, there are no warnings). Please correct any warnings before merging. /github/workspace/src/filters/IMU_filter.hpp:29: warning: argument 'IMU_data' of command @param is not found in the argument list of IMU_filter::init_EKF_6axis(IMU_data data)
/github/workspace/src/filters/IMU_filter.hpp:31: warning: The following parameter of IMU_filter::init_EKF_6axis(IMU_data data) is not documented:
parameter 'data'
/github/workspace/src/filters/IMU_filter.hpp:32: warning: argument 'IMU_data' of command @param is not found in the argument list of IMU_filter::step_EKF_6axis(IMU_data data)
/github/workspace/src/filters/IMU_filter.hpp:35: warning: The following parameter of IMU_filter::step_EKF_6axis(IMU_data data) is not documented:
parameter 'data' |
Pandabear1125
requested changes
Apr 2, 2025
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Pandabear1125
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Looks good, just some documentation and style stuff.
| /// @brief the data structure that holds all the IMU data | ||
| struct IMU_data{ | ||
| /// @brief raw acceleration value (m/s^2) | ||
| float accel_X = 0; |
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Indent this struct's members
| @@ -0,0 +1,244 @@ | |||
| #include "IMU_filter.hpp" | |||
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| void IMU_filter::init_EKF_6axis(IMU_data data){ | |||
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You should link your paper on how this works. Or comment much more on the math.
| {helpgy, -helpgz, 1, helpgx}, | ||
| {helpgz, helpgy, -helpgx, 1} | ||
| }; | ||
| // [ 1, -(dt*gx)/2, -(dt*gy)/2, -(dt*gz)/2] |
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delete commented code
| {2*x[1], 2*x[0], 2*x[3], 2*x[2]}, | ||
| {2*x[0], -2*x[1], -2*x[2], 2*x[3]} | ||
| }; | ||
| // [-2*q2, 2*q3, -2*q0, 2*q1] |
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delete commented code
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I also changed imu sensor's file in Sensors and sensor manager
The sensor manager add only the add bias function which called fix_raw_data() and calibration_all() in IMU_sensor.cpp
IMU is working on infantry after test.