From 259f2d6679df5d5d93289a7035836b192e701449 Mon Sep 17 00:00:00 2001 From: Rodrigo Date: Fri, 8 Apr 2022 09:41:02 -0300 Subject: [PATCH] MPU6000 example is fixed, fix #122 --- examples/real-data/mpu6000_imu.mat | Bin 14973197 -> 14973193 bytes .../real-data/navego_example_real_mpu6000.m | 4 +--- 2 files changed, 1 insertion(+), 3 deletions(-) diff --git a/examples/real-data/mpu6000_imu.mat b/examples/real-data/mpu6000_imu.mat index 7113f8f477daf144ef2a0e3bfb4c84623b447dd8..830d521b115ca2c5117a0cb0af575a573e4753f4 100644 GIT binary patch delta 4035 zcmWmHhdb4e!-w%yRFo7#eNz;X5g|L0LZNk3QdWe_IA-{S-YA^1<(Twz;0jSOcz;~btXa-t=vK(XqXXJ1KaJn7Nh{|38cP8=R%5N=hYi12fbv z?Jk*-*r4+5D|+)<%i2`Mp`$y2lVWr9VB2e2;??2CP*&CQk}P# zHZtB!{-krv?(^h@OFXo5abh%`RrNNPM6w!e!?qXvEqO+9G7ou~Uh+CYGvYWum999m zBK|)jX0=&ca!Pf3x8)6nr}uml6~nt{dHRx@Ochh_2kl5t@~v)o(8I(~8KTf;l>98v z*WTeF^^sht#ypuCo8-`L`b#-X{sB+Kd+oPWn({fR?-kejOtaR=sLx;3>#7@G{AicrKm^^17ze%ErQsV)yi||(go5n&Tm>C-!nZ;e zZR{YPdHgU5Vey6Y-)!q*nAlj!)7{n7R9ioS+If|MOeT|3RZiy^w zu}+b;>GN!yiO+B^4A+>S^m1tAY2#Flkcjrz z3vIPKh0LZU#xz%K`m5OZW-@kq#6LEWD-Ecjn3a_I+*vegn6?ODyLI>3^zgQNkG-5m z!XkZcgS!IwGMWTcrkho(dXsiojkQ*n)s8gA5P!JX`aih~Q|oES9-a^v=$(Kj%dxxt@uBTGRUfKqGicF~7RD|aQH|doy-`jbKmLPxC zc`Ds!(duI^F`+42!pLja`m+`If=$KT?l^KT9UELab$id@MJ^W($M71Hy{Gx|7tYg^ z2izsb9zQzTUFB(HRLH087ae?=V7OQ*-+nyWVM${=`e}6%Wns?+L1QN!oj4AEN2S&& z(Zmn@2Qz+`Z+zmP|H82`LGZ?ZteW4|kYKAFnmlq;+R5Q(KpG?EC$r_k34y%)T&gNv zu>JLTx1<+avcD2TFBgZm?4KVT@gL=Sd_Cp{g)mX%Xmu*J{F_M$lP_@jW-TwV0Og#o z9;Liqvlf-MG_qV<{RI{#Ec3Y&2?u-RVxhl8*5ol3Vp|H&!E!&|C5r*w?fV@ zxP|18-*DaOH&2qj&PHXbCLjBEovas~PEu!|{2uY{1Fp+Nep z!iI6D{dr|eBNDPA4F#cX<>~qBNw>yEX$fUQvPFw=+`ByIisf4^&j7dDIPXQBV_$}B zRjWRU(z~ynnf0I^8#r=v`TFgI00t|+$ecRQ#C-ayWh)UIamS&`1`Q9X6H1QBopg%x zKMzbN9wOIkzun{tt$uQ6CRJkTvX_l?PD82J! zPb=~5#h3h7sz3WkOSO^v@UA(PL(MXTNr$In%|LvsbG&Wf;7viN@O5_w&x3R{`<5nM z;`PPHjUyfGMXqX-jYqpy6x(8Mk$Iw4hHfEIB`r)LIw50tUZVNW^m-7htnr$nkYX%ClrvepF41tTmqr zZnk7+w9aim8=xfk)Ff_zqqniFW&2QD^_prEfcPTUvhS`K^+Z_3!Dv zIt}-~5)DgapRfqFTdq|q@3HdEW??v3cq+*93WJA@gn(t9{>}q^Ec|wt^$p$rB!vgP zB}Vzoj_WzatOx(#y5vsZl(qI*bx!5dmfeUexHV&-xOncJ6R%Hc{i#J6dsgPX>qKPw zM>?;GH}A*1AD?T=km6Vy^Hp%Tq$}VaH_7mvs;*MNxu;O6f%II=?N<)5Df@_aZ?#_Q z)Lw%^Mdwb#pvu<14?>c^9P8&jv>Ga(zic4-_$+*NZC6qSUNiK)+kYcP@wVvs-t;>9 zE;(i^ZyyVhl+eYPeUn>e2Z!(HbX%#K@s*xls9;ObrCeAWV|nsSf1^3S%005AT~){; z)u5^?CdK@0;ggNXJCEdV?|M+&;qr|Xvvzat@{)N=CH?bjDH^Hr?)+y(P6^IlJQr_k zwMY~y=9~UjG45mhs!#qE(f3PavL{gloQ=h%YoScl&Uqabz6pDlYcIANTg>b?DsLuJ z^DfOY#k!>)O{`9Lw3|8OwIiOyH!{9rUh>F$qbZb|*~37nPO+qK z2Cfxq?z<}31+OQoRtn^BIeakuTz!$(mUXW?sZZ5MS5iyh-V^Tu&y=6!K*TCA=wrS>)IP$@kRd~NnKo+PL4PCB#~C7G_JX_ zYF?K0D=D>FI;K)zTdnpJMJ82bp)aE?fKZ@kbCXYMDC+t{Vz&snI{cH`9Kl##Mf2ls zYq0fUmGY=Tj?D6goyUGQfc@7;X6NyE&tEQNQ}vFCzk zj$gW_OjK;`)U&rTAHKa@v6{BRYobdYzTs_0`QR}$xiMyKQIr)XwtMKe=s0IvQ9A>1 zA&6u_m}MR@8ev>sXln`nDJPgM_w7(vhvxCsG}(-yjEA#c-YXvL?Ig|3yln2xmAf;6 zS5{v}s66^6nbi8We~MRR*g*TSr6`xW=m-~DyOYmSA4JBqpOY))$r!k6>O)>ot8IF* z=v)2f=Sxn7_$z(_kk+%VEP8Q$ik`at;SLwjP5 z|J+Ink!0H^_c`7wb;o!t;r8}LbhIR^e+uoe>`2=Dh}NA1Lc6hK+sd>;Q1PVDS4#hs zMC0VR^SqK}>O&$|Ac@PN>*|`Cv&EETL}}z(X=`1l$GQggWxn24>8X0@y~&jUSKD)X zYP}^khSS#+oa8o#m4z%u9*!)#E?FB5hHC#QU8UX#Vo7rO*r~^Prk`9uH&-EAVlsES zv}472iMkplT6l-~zUxFS8%Mr%(8bOF2CRMLsST?c@n#Qen3WDzxZXF4oBMK4f?L4Z Zo!lqa?w=$rQ%wCs$RFC=R%q*G^najs8AjvO`wN2#F#i+c~AaktCapWQDAxV{}kfwjz<4 z^+d|v`+a}+b$$MV`^iEC)wBN>F2Qbi&zV=p+Krc2idRfrRzh4>M2uHVL`*E=GJk{> zMT7_A9y|cB2iObj1NH+H03|>LPy;joEpPy!1L%Q+00Y1X90HgCX5cWu0BKm_jNe-8qIhrlEJug5?T5DYv4LV%}0DDVsj z1D*rnKm-s8L;=x23=j*%0r9{KAOT1Ol7M93C6EHV0#boAARWj6GJ)4X7LX0(0B?X? 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esmo?fi#Ha3<=DoLJFF(x?k?ZnVh~M!F#dl4s}dam diff --git a/examples/real-data/navego_example_real_mpu6000.m b/examples/real-data/navego_example_real_mpu6000.m index e11ca6f..c247317 100644 --- a/examples/real-data/navego_example_real_mpu6000.m +++ b/examples/real-data/navego_example_real_mpu6000.m @@ -100,8 +100,6 @@ load mpu6000_imu -% mpu6000_imu.wb(1:2) = -mpu6000_imu.wb(1:2); - %% EKINOX GNSS fprintf('NaveGo: loading Ekinox GNSS data... \n') @@ -109,7 +107,7 @@ load ekinox_gnss % ekinox_gnss contains the lever arm with respect to Ekinox IMU. -% ekinox_gnss.larm has to be changed for MPU-6000 IMU +% ekinox_gnss.larm has to be changed for MPU-6000 IMU. ekinox_gnss.larm = [-0.369, 0.0, -0.219]'; ekinox_gnss.eps = mean(diff(mpu6000_imu.t)) / 2; % A rule of thumb for choosing eps.