pima/Trinity-DevPCB-V1.0
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- Fixed IMU calibration function bugs

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- Fixed IMU data processing bugs
- Fixed madgwick init bug
- Inverted magn axis relative to IMU (180 degree rotation) in madgwick
- Acc bias currently set to 0 and 1 for gravity
- Gyro values now rad/s instead of deg/s as madgwick requires
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pima committed 2026-10-04 18:03:02 +02:00
1 parent 1409bad40b
commit 570f0c12f9
19 files changed
+45215 -45317
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Trinity_Devboard_V2.ioc
+2 -2
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@@ -439,10 +439,10 @@ SH.S_TIM2_CH2.0=TIM2_CH2,PWM Generation2 CH2
SH.S_TIM2_CH2.ConfNb=1
SH.S_TIM2_CH3.0=TIM2_CH3,PWM Generation3 CH3
SH.S_TIM2_CH3.ConfNb=1
SPI1.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_16
SPI1.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_4
SPI1.CLKPhase=SPI_PHASE_2EDGE
SPI1.CLKPolarity=SPI_POLARITY_HIGH
SPI1.CalculateBaudRate=4.0 MBits/s
SPI1.CalculateBaudRate=16.0 MBits/s
SPI1.DataSize=SPI_DATASIZE_8BIT
SPI1.Direction=SPI_DIRECTION_2LINES
SPI1.IPParameters=VirtualType,Mode,Direction,CalculateBaudRate,DataSize,BaudRatePrescaler,CLKPhase,CLKPolarity