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6dfb5640db
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feat(imu): MPU6000 sensor fusion with complementary filter
Add src/mpu6000.c implementing a complementary filter (α=0.98) on top of
the existing icm42688 SPI driver. Fixes wrong scale factors in balance.c
(was ±250°/s / ±2g; hardware is configured ±2000°/s / ±16g). Fusion now
lives in the IMU driver layer; balance_update() consumes IMUData directly.
- mpu6000_init(): calls icm42688_init(), seeds filter state
- mpu6000_read(): reads raw SPI, applies complementary filter, returns
fused pitch (degrees) + pitch_rate (°/s) + accel_x/z (g)
- balance.c: removes duplicated fusion code, uses IMUData.pitch
- main.c: switches to mpu6000_init()/mpu6000_read(), updates telemetry
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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2026-02-28 12:26:28 -05:00 |
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