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Drift-compensated angle in gyro (#931)

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* compute angle based on undrifted rate

* add is calibrating function

* fix integrator

* added example

* docs

* poll faster
This commit is contained in:
Peli de Halleux
2019-10-01 10:11:58 -07:00
committed by GitHub
parent 25452efc92
commit 374bbb8304
11 changed files with 192 additions and 78 deletions
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16
sim/state/gyro.ts
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@ -8,7 +8,6 @@ namespace pxsim {
export class GyroSensorNode extends UartSensorNode {
id = NodeType.GyroSensor;
private angle: number = 0;
private rate: number = 0;
constructor(port: number) {
@ -19,14 +18,6 @@ namespace pxsim {
return DAL.DEVICE_TYPE_GYRO;
}
setAngle(angle: number) {
angle = angle | 0;
if (this.angle != angle) {
this.angle = angle;
this.setChangedState();
}
}
setRate(rate: number) {
rate = rate | 0;
if (this.rate != rate) {
@ -35,9 +26,12 @@ namespace pxsim {
}
}
getRate() {
return this.rate;
}
getValue() {
return this.mode == GyroSensorMode.Angle ? this.angle :
this.mode == GyroSensorMode.Rate ? this.rate : 0;
return this.getRate();
}
}
}