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Dependencies: mbed MatrixMath LPS25HB_I2C LSM9DS1 Matrix2 PIDcontroller LoopTicker SBUS_without_mainfile UsaPack solaESKF_wind Vector3 CalibrateMagneto FastPWM
Diff: datatransfer.cpp
- Revision:
- 90:0b1f62f7a83a
- Parent:
- 89:316c20d3184c
- Child:
- 91:393b9ae62681
--- a/datatransfer.cpp Wed Jan 12 09:54:55 2022 +0000
+++ b/datatransfer.cpp Thu Jan 13 08:38:56 2022 +0000
@@ -20,7 +20,11 @@
vp.altitude = -palt;
vp.de = de;
vp.deobj = deobj;
- vp.calibEndFlag = 0;
+ if(updateValues.calibrationFlag == 1111){
+ vp.calibEndFlag = 2;
+ }else{
+ vp.calibEndFlag = 0;
+ }
for(int i = 0 ; i<5 ; i++){
vp.rc[i] = rc[i];
}
@@ -28,7 +32,7 @@
//ekf.updateCenteredGyroBiasCorrection(updateValues.gyroBias);
//ekf.updateCenteredAccBiasCorrection(updateValues.accBias);
//pc.printf("%f %f\n\r",rpy.x*180.0f/M_PI,updateValues.gyroBias[0]);
- pc.printf("%f %f %f\r\n",rpy.x/M_PI*180.0f,rpy.y/M_PI*180.0f,rpy.z/M_PI*180.0f);
+ pc.printf("%f %f %f %d\r\n",gyro.x/M_PI*180.0f,gyro.y/M_PI*180.0f,gyro.z/M_PI*180.0f,updateValues.calibrationFlag);
}
// eeprom書き込み・読み込みに必要な関数