sl-controls
f02ed8172a
On boot, before the main loop, sample 1000 gyro readings (~1s) while board is held still. Compute per-axis mean offset (sensor-frame raw LSBs) and subtract from all subsequent readings in mpu6000_read(). - mpu6000_calibrate(): LED1+LED2 solid ON during 1s sample window, resets filter state to zero once bias is known - mpu6000_is_calibrated(): gate; main loop blocks arming and USB streaming until calibration completes - Bias subtracted in sensor frame before CW270 axis transform + scale, so all three axes (pitch/roll/yaw rate) benefit - config.h: GYRO_CAL_SAMPLES=1000 - No flash storage — recalibrate fresh each boot (bias varies with temp) Closes #21 (3.5°/s yaw drift), #23 (gyro bias calibration on boot). Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
32 lines
895 B
C
32 lines
895 B
C
#ifndef MPU6000_H
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#define MPU6000_H
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#include <stdint.h>
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#include <stdbool.h>
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typedef struct {
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float pitch; // degrees, filtered (complementary filter)
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float pitch_rate; // degrees/sec (raw gyro pitch axis)
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float roll; // degrees, filtered (complementary filter)
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float yaw; // degrees, gyro-integrated (drifts — no magnetometer)
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float accel_x; // g
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float accel_z; // g
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} IMUData;
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bool mpu6000_init(void);
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/*
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* Sample gyro for ~1s to compute per-axis bias offsets.
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* Must be called after mpu6000_init() with the board held still.
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* Blocks ~1s. LED1+LED2 solid during calibration.
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* IWDG must NOT be running when this is called (call before safety_init()).
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*/
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void mpu6000_calibrate(void);
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/* Returns true once mpu6000_calibrate() has completed. */
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bool mpu6000_is_calibrated(void);
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void mpu6000_read(IMUData *data);
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#endif
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