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Dependencies: mbed MatrixMath LPS25HB_I2C LSM9DS1 Matrix2 PIDcontroller LoopTicker SBUS_without_mainfile UsaPack solaESKF_wind Vector3 CalibrateMagneto FastPWM
Diff: run.cpp
- Revision:
- 103:34e911b94440
- Parent:
- 101:d9895b8eb49f
- Child:
- 104:f81befbc5ab7
--- a/run.cpp Fri Feb 18 11:49:52 2022 +0000
+++ b/run.cpp Mon Feb 28 12:21:31 2022 +0000
@@ -164,6 +164,7 @@
float tstart = _t.read();
//センサの値を取得
getIMUval();
+ calcOpticalVel();
//ekfの更新
eskf.updateNominal(MatrixMath::Vector2mat(acc),MatrixMath::Vector2mat(gyro),att_dt);