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RaceChronoDiyBleDevice
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Timur Iskhodzhanov 2020-08-28 00:17:17 -07:00
parent a1d978de1a
commit 3e0dc3a1ab
1 changed files with 8 additions and 8 deletions
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@ -7,14 +7,14 @@ RaceChrono and equations to get the right scale, etc.
Update frequency: 50 times per second.
Channel name | Equation
------------ | --------
Steering angle | bytesToIntLe(raw, 0, 2) * 0.1
Z rate of rotation | bytesToIntLe(raw, 2, 2) * -0.318309886
??? | bytes 4, 5
Lateral acceleration | bytesToIntLe(raw, 6, 1) * 0.2
Longitudinal acceleration | bytesToIntLe(raw, 7, 1) * -0.1
Combined acceleration | sqrt(pow2(bytesToIntLe(raw, 6, 1) * 0.2) + pow2(bytesToIntLe(raw, 7, 1) * 0.1))
Channel name | Equation | Notes
------------ | -------- | -----
Steering angle | bytesToIntLe(raw, 0, 2) * 0.1 |
Z rate of rotation | bytesToIntLe(raw, 2, 2) * -0.318309886 | The multiplier is 1/pi, but maybe should be 0.9 / pi
??? | bytes 4, 5 |
Lateral acceleration | bytesToIntLe(raw, 6, 1) * 0.2 | Not 100% sure about the multiplier, but looks about right
Longitudinal acceleration | bytesToIntLe(raw, 7, 1) * -0.1 | Not 100% sure about the multiplier, but looks about right
Combined acceleration | sqrt(pow2(bytesToIntLe(raw, 6, 1) * 0.2) + pow2(bytesToIntLe(raw, 7, 1) * 0.1)) |
## PID 0xD1