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Dependencies: mbed MatrixMath LPS25HB_I2C LSM9DS1 Matrix2 PIDcontroller LoopTicker SBUS_without_mainfile UsaPack solaESKF_wind Vector3 CalibrateMagneto FastPWM
Diff: servo.cpp
- Revision:
- 88:0fc5df2fddcb
- Parent:
- 87:981895e1d4f2
- Child:
- 107:78e6f7bee68e
--- a/servo.cpp Fri Jan 07 09:49:19 2022 +0000
+++ b/servo.cpp Wed Jan 12 07:00:08 2022 +0000
@@ -19,6 +19,16 @@
rpy.y = euler(2,1);
rpy.z = euler(3,1);
+ if (updateValues.calibrationFlag == 1111)
+ {
+ alignment();
+ }
+ else
+ {
+ rpy.x -= roll_offset;
+ rpy.y -= pitch_offset;
+ }
+
// 自身の位置に応じてエレベータ舵角を決定する
float derc = rc[1];
float darc = rc[0]-rc[1];