added original Mahony alg for comparation; impr IMU calbration

2022-09-07 03:13:22 +02:00
parent 9a973c054d
commit f85bc21e21
3 changed files with 171 additions and 76 deletions
@@ -6,12 +6,12 @@
 #include <stdint.h>

 typedef struct {
-    float ax;
-    float ay;
-    float az;
-    float gx;
-    float gy;
-    float gz;
+    double ax;
+    double ay;
+    double az;
+    double gx;
+    double gy;
+    double gz;
 } mpu_value_t;

 typedef struct {