From 5340707b87937d62c6d72197cf494d67851d05e3 Mon Sep 17 00:00:00 2001 From: abel Date: Tue, 8 Oct 2024 17:41:29 +0200 Subject: UPDATE FOLDER STUCTURE MOET APARTE_PCB NOG VERWIJDERTEN WINDOWS HEEFT BEST VERGRENDELD --- .../MinIMU9AHRS/Compass.ino | 56 ++++++++++++++++++++++ 1 file changed, 56 insertions(+) create mode 100644 CODE/debug/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/Compass.ino (limited to 'CODE/debug/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/Compass.ino') diff --git a/CODE/debug/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/Compass.ino b/CODE/debug/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/Compass.ino new file mode 100644 index 0000000..767227b --- /dev/null +++ b/CODE/debug/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/Compass.ino @@ -0,0 +1,56 @@ +/* + +MinIMU-9-Arduino-AHRS +Pololu MinIMU-9 + Arduino AHRS (Attitude and Heading Reference System) + +Copyright (c) 2011 Pololu Corporation. +http://www.pololu.com/ + +MinIMU-9-Arduino-AHRS is based on sf9domahrs by Doug Weibel and Jose Julio: +http://code.google.com/p/sf9domahrs/ + +sf9domahrs is based on ArduIMU v1.5 by Jordi Munoz and William Premerlani, Jose +Julio and Doug Weibel: +http://code.google.com/p/ardu-imu/ + +MinIMU-9-Arduino-AHRS is free software: you can redistribute it and/or modify it +under the terms of the GNU Lesser General Public License as published by the +Free Software Foundation, either version 3 of the License, or (at your option) +any later version. + +MinIMU-9-Arduino-AHRS is distributed in the hope that it will be useful, but +WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for +more details. + +You should have received a copy of the GNU Lesser General Public License along +with MinIMU-9-Arduino-AHRS. If not, see . + +*/ + +void Compass_Heading() +{ + float MAG_X; + float MAG_Y; + float cos_roll; + float sin_roll; + float cos_pitch; + float sin_pitch; + + cos_roll = cos(roll); + sin_roll = sin(roll); + cos_pitch = cos(pitch); + sin_pitch = sin(pitch); + + // adjust for LSM303 compass axis offsets/sensitivity differences by scaling to +/-0.5 range + c_magnetom_x = (float)(magnetom_x - SENSOR_SIGN[6]*M_X_MIN) / (M_X_MAX - M_X_MIN) - SENSOR_SIGN[6]*0.5; + c_magnetom_y = (float)(magnetom_y - SENSOR_SIGN[7]*M_Y_MIN) / (M_Y_MAX - M_Y_MIN) - SENSOR_SIGN[7]*0.5; + c_magnetom_z = (float)(magnetom_z - SENSOR_SIGN[8]*M_Z_MIN) / (M_Z_MAX - M_Z_MIN) - SENSOR_SIGN[8]*0.5; + + // Tilt compensated Magnetic filed X: + MAG_X = c_magnetom_x*cos_pitch+c_magnetom_y*sin_roll*sin_pitch+c_magnetom_z*cos_roll*sin_pitch; + // Tilt compensated Magnetic filed Y: + MAG_Y = c_magnetom_y*cos_roll-c_magnetom_z*sin_roll; + // Magnetic Heading + MAG_Heading = atan2(-MAG_Y,MAG_X); +} -- cgit v1.2.3