<fix>Fixed the issue of abnormal SLAM data caused by IMU measurement range

2025-08-11 14:29:25 +08:00
parent 24accb60ec
commit c99c399920
3 changed files with 4 additions and 4 deletions
@@ -128,9 +128,9 @@ extern int g_sendcloudrender;
 // Common definitions
 #define GD_ACCL_G 9.7833f
 #define ACC_1G_ms2 9.8
-#define ACC_SEN_SCALE 16348
+#define ACC_SEN_SCALE 4096
 #define PAI 3.14159265358979323846
-#define GYRO_SEN_SCALE 32.8f
+#define GYRO_SEN_SCALE 16.4f

 // Common functions
 inline float accel_convert(int16_t raw, int sen_scale) {