calibration.h

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#ifndef CALIBRATION_H
#define CALIBRATION_H

#include "communication/communication.h"

#define SUCCESS         1
#define FAILURE         -1

// used data rleg_99.mat and rleg.mag with ellipsoid_fit.m: rotating slowly at many directions
#define ACC_BIAS_X      19.2
#define ACC_BIAS_Y      6.024
#define ACC_BIAS_Z      -18.97
#define ACC_FS_X        262.82
#define ACC_FS_Y        262.15
#define ACC_FS_Z        252.20

#define MAG_BIAS_X      -143
#define MAG_BIAS_Y      -101
#define MAG_BIAS_Z      3
#define MAG_FS_X        177
#define MAG_FS_Y        139
#define MAG_FS_Z        85

// used data rleg_2.mat (stopped)
#define GYR_BIAS_X      -60.8067
#define GYR_BIAS_Y      40.0800
#define GYR_BIAS_Z      0.7267
#define GYR_FS_X        0.001214142     // from datasheet (rad/s)/LSB
#define GYR_FS_Y        0.001214142
#define GYR_FS_Z        0.001214142

// No tested
#define ENC_FS      0.08789062  // (2pi)/(2^12)
#define ENC_MAX     4096        // 2^12 

void calibrate_all(IMU_DATA_STRUCT *imu_data);

void calibrate_imu(IMU_DATA_STRUCT *imu_data);

void calibrate_enc(ENC_DATA_STRUCT *enc_data);

#endif