Basic_Frame_TypeC_2023_Omni
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attitude_defines.h
1#ifndef __ATTITUDE_RESOLUTION_DEFINES_H
2#define __ATTITUDE_RESOLUTION_DEFINES_H
3
4/* =========================================================================
5 * ANGLE PROCESS DEFINES
6 * ====================================================================== */
7#define ACCEL_WEIGHT \
8 0.01f // Define the weight of the accelerometer data, adjust according to the actual situation
9#define GYRO_WEIGHT \
10 (1.0f - \
11 ACCEL_WEIGHT) // Define the weight of the gyroscope data, adjust according to the actual situation
12
13// TODO: Investigate this sampling dt
14#define SAMPLE_DT \
15 0.0001f // Define the sampling period, adjust according to the actual situation
16
17/* =========================================================================
18 * MADGWICK DEFINES
19 * ====================================================================== */
20#define sampleFreq 500.0f // sample frequency in Hz
21#define betaDef 0.5f // 2 * proportional gain 0.1
22
23/* =========================================================================
24 * MAHONY DEFINES
25 * ====================================================================== */
26// #define sampleFreq 1000.0f // sample frequency in Hz
27#define twoKpDef (2.0f * 0.5f) // 2 * proportional gain
28#define twoKiDef (2.0f * 0.001f) // 2 * integral gain
29
30#endif