Commit 573e480a authored by schneider's avatar schneider
Browse files

fix(imutest): Add mappings

parent addd0e4d
......@@ -253,6 +253,21 @@ int main(void)
while (!GPIO_InGet(&interrupt_pin));
/* the remapping matrix for BHI and Magmetometer should be configured here to make sure rotation vector is */
/* calculated in a correct coordinates system. */
int8_t bhy_mapping_matrix_config[3*3] = {0,-1,0,1,0,0,0,0,1};
int8_t mag_mapping_matrix_config[3*3] = {-1,0,0,0,1,0,0,0,-1};
bhy_mapping_matrix_set(PHYSICAL_SENSOR_INDEX_ACC, bhy_mapping_matrix_config);
bhy_mapping_matrix_set(PHYSICAL_SENSOR_INDEX_MAG, mag_mapping_matrix_config);
bhy_mapping_matrix_set(PHYSICAL_SENSOR_INDEX_GYRO, bhy_mapping_matrix_config);
/* the sic matrix should be calculated for customer platform by logging uncalibrated magnetometer data. */
/* the sic matrix here is only an example array (identity matrix). Customer should generate their own matrix. */
/* This affects magnetometer fusion performance. */
float sic_array[9] = {1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0};
bhy_set_sic_matrix(sic_array);
#if 0
/* install the callback function for parse fifo data */
if(bhy_install_sensor_callback(VS_TYPE_ROTATION_VECTOR, VS_WAKEUP, sensors_callback_rotation_vector))
......
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