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标题: 清华方案的疑问：GRAVITY_ADJUST_TIME_CONSTANT和GYROSCOPE_ANGLE_SIGMA_FREQUENCY [打印本页]

作者: caofeng 时间: 2015-4-29 21:50
标题: 清华方案的疑问：GRAVITY_ADJUST_TIME_CONSTANT和GYROSCOPE_ANGLE_SIGMA_FREQUENCY
清华方案的疑问：角度计算函数中的GRAVITY_ADJUST_TIME_CONSTANT和GYROSCOPE_ANGLE_SIGMA_FREQUENCY是怎么求得？？请大神指点
void AngleCalculate(void) {
float fDeltaValue;
g_fGravityAngle = (VOLTAGE_GRAVITY - GRAVITY_OFFSET) *
GRAVITY_ANGLE_RATIO;
// g_fGravityAngle = 0;
g_fGyroscopeAngleSpeed = (VOLTAGE_GYRO - GYROSCOPE_OFFSET) *
GYROSCOPE_ANGLE_RATIO;
g_fCarAngle = g_fGyroscopeAngleIntegral;
fDeltaValue = (g_fGravityAngle - g_fCarAngle) /
GRAVITY_ADJUST_TIME_CONSTANT;
g_fGyroscopeAngleIntegral += (g_fGyroscopeAngleSpeed + fDeltaValue) /
GYROSCOPE_ANGLE_SIGMA_FREQUENCY;
}

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