From c5a4161b9c9282e61a267a79f081cd374f8a2b55 Mon Sep 17 00:00:00 2001 From: KalmanSLightech Date: Mon, 23 Jul 2018 11:23:44 +0800 Subject: [PATCH] change the range of accel --- doc/zh-Hans/spec_imu_data.md | 2 +- src/internal/motions.cc | 6 +++--- third_party/glog | 2 +- 3 files changed, 5 insertions(+), 5 deletions(-) diff --git a/doc/zh-Hans/spec_imu_data.md b/doc/zh-Hans/spec_imu_data.md index 38050f8..34f3490 100644 --- a/doc/zh-Hans/spec_imu_data.md +++ b/doc/zh-Hans/spec_imu_data.md @@ -37,6 +37,6 @@ IMU 包/小包，是一组 IMU 数据。 | Description | 序列号 | 时间戳 | 指定传感器类型 | IMU 的温度 | 陀螺仪或陀螺仪 x y z 三轴的值 | * 加速度计和陀螺仪的计量值换算成物理值公式： **real = data * range / 0x10000** 。 - * 加速度计量程默认值为 **8 g** ，陀螺仪量程默认值为 **1000 deg/s** 。 + * 加速度计量程默认值为 **12 g** ，陀螺仪量程默认值为 **1000 deg/s** 。 * 温度计量值换算成物理值公式： **real = data / ratio + offset** 。 * ``ratio`` 默认值为 **326.8** ， ``offset`` 默认值为 **25℃** 。 diff --git a/src/internal/motions.cc b/src/internal/motions.cc index b091f72..3828b54 100644 --- a/src/internal/motions.cc +++ b/src/internal/motions.cc @@ -52,9 +52,9 @@ void Motions::SetMotionCallback(motion_callback_t callback) { imu->temperature = seg.temperature / 326.8f + 25; if(imu->flag == 1) { - imu->accel[0] = seg.aceel_or_gyro[0] * 8.f / 0x10000; - imu->accel[1] = seg.aceel_or_gyro[1] * 8.f / 0x10000; - imu->accel[2] = seg.aceel_or_gyro[2] * 8.f / 0x10000; + imu->accel[0] = seg.aceel_or_gyro[0] * 12.f / 0x10000; + imu->accel[1] = seg.aceel_or_gyro[1] * 12.f / 0x10000; + imu->accel[2] = seg.aceel_or_gyro[2] * 12.f / 0x10000; imu->gyro[0] = 0; imu->gyro[1] = 0; imu->gyro[2] = 0; diff --git a/third_party/glog b/third_party/glog index a97d6b0..8d7a107 160000 --- a/third_party/glog +++ b/third_party/glog @@ -1 +1 @@ -Subproject commit a97d6b0e1ce34e4e1956c63de8ddd325ff164512 +Subproject commit 8d7a107d68c127f3f494bb7807b796c8c5a97a82