diff options
| -rw-r--r-- | src/body.cpp | 2 | ||||
| -rw-r--r-- | src/main.cpp | 5 |
2 files changed, 4 insertions, 3 deletions
diff --git a/src/body.cpp b/src/body.cpp index 3796c41..643d91c 100644 --- a/src/body.cpp +++ b/src/body.cpp @@ -209,7 +209,7 @@ void Body::unicsv ( ) { printf("%d,%c,%f,%f,%f,%f,%f,%f,%f,%f,%f\n", utm_i, utm_c, - X[1], X[0], -X[2], + X[0], X[1], -X[2], X[3], X[4], X[5], X[6], X[7], X[8]); return ; diff --git a/src/main.cpp b/src/main.cpp index 5d4ea71..f1f2cd8 100644 --- a/src/main.cpp +++ b/src/main.cpp @@ -55,7 +55,7 @@ imuCallback(const message &msg, State &mu, const Quaterniond &q, const timestamp Vector3d acc(msg.linear_acceleration.y,msg.linear_acceleration.x,-msg.linear_acceleration.z); Vector3d ang(msg.angular_velocity.y,msg.angular_velocity.x,-msg.angular_velocity.z); // WARNING: This is the bias for 1112-1 - Vector3d ang_bias(-2.795871394666666222e-03, 6.984255690000021506e-03, 1.418145565750002614e-03); + Vector3d ang_bias(-2.795871394666666222e-03, 6.984255690000021506e-03, -1.418145565750002614e-03); ang -= ang_bias; double dtf = dt.secs+dt.nsecs*1e-9; @@ -220,7 +220,8 @@ main(int argc, char **argv) Quaterniond qbw; // bias in FRD coordinates Vector3d acc_bias; - acc_bias << -0.03713532, 1.125*0.01465135, -1*-0.00709229; + //acc_bias << -0.03713532, 1.125*0.01465135, -1*-0.00709229; + acc_bias << 0.95*-0.03713532, 0.65*0.01465135, -1*-0.00709229; mu.accelerometer_bias(acc_bias); timestamp dt{0,0}; timestamp t_old{0,0}; |