diff options
| -rw-r--r-- | apps/imu_cal/nano_calibration.cc | 14 |
1 files changed, 7 insertions, 7 deletions
diff --git a/apps/imu_cal/nano_calibration.cc b/apps/imu_cal/nano_calibration.cc index 3eebe779..627dbf44 100644 --- a/apps/imu_cal/nano_calibration.cc +++ b/apps/imu_cal/nano_calibration.cc @@ -323,19 +323,19 @@ void NanoSensorCal::Initialize() { // Initializes the gyroscope offset calibration algorithm. gyroCalInit( &gyro_cal_, - 1.0e9, // min stillness period = 1.0 seconds + 1.4e9, // min stillness period = 1.4 seconds 1.5e9, // max stillness period = 1.5 seconds 0, 0, 0, // initial bias offset calibration 0, // time stamp of initial bias calibration 0.5e9f, // analysis window length = 0.5 seconds - 1.5e-5f, // gyroscope variance threshold [rad/sec]^2 + 3.0e-5f, // gyroscope variance threshold [rad/sec]^2 3.0e-6f, // gyroscope confidence delta [rad/sec]^2 - 4.5e-3f, // accelerometer variance threshold [m/sec^2]^2 + 9.0e-3f, // accelerometer variance threshold [m/sec^2]^2 9.0e-4f, // accelerometer confidence delta [m/sec^2]^2 5.0f, // magnetometer variance threshold [uT]^2 1.0f, // magnetometer confidence delta [uT]^2 0.95f, // stillness threshold [0,1] - 40.0f * kPi / 180.0f, // stillness mean variation limit [rad/sec] + 60.0f * kPi / 180.0f, // stillness mean variation limit [rad/sec] 1.5f, // maximum temperature deviation during stillness [C] true); // gyro calibration enable @@ -345,14 +345,14 @@ void NanoSensorCal::Initialize() { overTempCalInit( &over_temp_gyro_cal_, 5, // Min num of points to enable model update - 5000000000, // Min model update interval [nsec] + 100000000, // Min temperature update interval [nsec] 0.75f, // Temperature span of bin method [C] - 100.0e-3f * kPi / 180.0f, // Model fit tolerance [rad/sec] + 40.0e-3f * kPi / 180.0f, // Jump tolerance [rad/sec] 250.0e-3f * kPi / 180.0f, // Outlier rejection tolerance [rad/sec] 172800000000000, // Model data point age limit [nsec] 250.0e-3f * kPi / 180.0f, // Limit for temp. sensitivity [rad/sec/C] 8.0f * kPi / 180.0f, // Limit for model intercept parameter [rad/sec] - 0.5e-3f * kPi / 180.0f, // Significant offset change [rad/sec] + 0.1e-3f * kPi / 180.0f, // Significant offset change [rad/sec] true); // Over-temp compensation enable #endif // OVERTEMPCAL_GYRO_ENABLED |