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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:
- 91:393b9ae62681
- Parent:
- 90:0b1f62f7a83a
- Child:
- 92:6a2319f7f6ed
--- a/datatransfer.cpp Thu Jan 13 08:38:56 2022 +0000
+++ b/datatransfer.cpp Thu Jan 13 09:21:24 2022 +0000
@@ -3,8 +3,6 @@
void send2center()
{
valuePack& vp = posValues;
- eskf.getGyroBias();
- //ekf.getAccBias(vp.accBias, vp.accBiasCov);
vp.acc[0] = acc.x;
vp.acc[1] = acc.y;
vp.acc[2] = acc.z;
@@ -20,6 +18,14 @@
vp.altitude = -palt;
vp.de = de;
vp.deobj = deobj;
+ if (prefligt_finished)
+ {
+ vp.readyFlag = 1;
+ }
+ else
+ {
+ vp.readyFlag = 0;
+ }
if(updateValues.calibrationFlag == 1111){
vp.calibEndFlag = 2;
}else{
@@ -29,9 +35,6 @@
vp.rc[i] = rc[i];
}
tail.Send(tail_address[pos_tail], &(posValues));
- //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 %d\r\n",gyro.x/M_PI*180.0f,gyro.y/M_PI*180.0f,gyro.z/M_PI*180.0f,updateValues.calibrationFlag);
}