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Dependencies: mbed MatrixMath LPS25HB_I2C LSM9DS1 Matrix2 PIDcontroller LoopTicker SBUS_without_mainfile UsaPack solaESKF_wind Vector3 CalibrateMagneto FastPWM
Diff: global.cpp
- Revision:
- 88:0fc5df2fddcb
- Parent:
- 87:981895e1d4f2
- Child:
- 90:0b1f62f7a83a
--- a/global.cpp Fri Jan 07 09:49:19 2022 +0000
+++ b/global.cpp Wed Jan 12 07:00:08 2022 +0000
@@ -78,6 +78,8 @@
int gpsitow = 0;
Vector3 rpy_align(0.0f*M_PI/180.0f, 0.0f*M_PI/180.0f, 0.0f);
+float roll_offset = 0.0f;
+float pitch_offset = 0.0f;
// eepromのread writeのためのunionを定義
const int eeprom_address = 0xA0; // EEPROMの3つの入力が全て+より
@@ -99,4 +101,9 @@
for (int i = 1; i < mat.getCols()+1; i++){
mat(i,i) = val;
}
-}
\ No newline at end of file
+}
+
+//alignment
+int n_ave = 0;
+float roll_sum = 0.0f;
+float pitch_sum = 0.0f;
\ No newline at end of file