#define COMPASS_CALIBRATION_PATH "/data/compass.conf"
#define DS_SIZE 32
#define EPSILON 0.000000001
-#define CAL_STEPS 4
-
-/* We'll have multiple calibration levels
-* so that we can provide an estimation as fast as possible
-*/
-static const float min_diffs[CAL_STEPS] = { 0.2, 0.4, 0.6, 1.0 };
-static const float max_sqr_errs[CAL_STEPS] = { 10.0, 8.0, 5.0, 3.5 };
-static const unsigned int lookback_counts[CAL_STEPS] = { 3, 4, 5, 6 };
+#define MAGNETIC_LOW 960 /* 31 micro tesla squared */
+#define MAGNETIC_HIGH 3600 /* 60 micro tesla squared */
#ifdef DBG_RAW_DATA
#define RAW_DATA_FULL_PATH "/data/raw_compass_data_full_%d.txt"
/* gyro defines */
#define GYRO_MAX_ERR 0.05f
-#define GYRO_DS_SIZE 8
+#define GYRO_DS_SIZE 100
+#define GYRO_CALIBRATION_PATH "/data/gyro.conf"
struct compass_cal {
/* hard iron offsets */
};
struct gyro_cal {
- float bias[3];
- int start;
+ float bias_x, bias_y, bias_z;
int count;
- float sample[GYRO_DS_SIZE][3];
+ float min_x, min_y, min_z;
+ float max_x, max_y, max_z;
};
typedef double mat_input_t[DS_SIZE][3];
void calibrate_gyro(struct sensors_event_t* event, struct sensor_info_t* info);
void gyro_cal_init(struct sensor_info_t* info);
+void gyro_store_data (struct sensor_info_t* info);
#endif