From 573e480a3049116fe38e3932e74e7e8cefbeb3e2 Mon Sep 17 00:00:00 2001
From: schneider <schneider@blinkenlichts.net>
Date: Sun, 12 May 2019 13:28:34 +0200
Subject: [PATCH] fix(imutest): Add mappings
---
imutest/main.c | 15 +++++++++++++++
1 file changed, 15 insertions(+)
diff --git a/imutest/main.c b/imutest/main.c
index e91d0382..a1730a37 100644
--- a/imutest/main.c
+++ b/imutest/main.c
@@ -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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