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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:
- 86:6b8e797306b6
- Parent:
- 84:028bd650e8bc
- Child:
- 87:981895e1d4f2
--- a/datatransfer.cpp Fri Dec 10 12:15:01 2021 +0000
+++ b/datatransfer.cpp Thu Dec 16 12:19:18 2021 +0000
@@ -15,7 +15,7 @@
vp.mag[1] = mag.y;
vp.mag[2] = mag.z;
vp.rpy[0] = rpy.x;
- vp.rpy[1] = -rpy.y;
+ vp.rpy[1] = rpy.y;
vp.rpy[2] = rpy.z;
vp.de = de;
vp.deobj = deobj;
@@ -26,7 +26,7 @@
//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 \r\n",rpy.x/M_PI*180.0f,-rpy.y/M_PI*180.0f);
+ pc.printf("%f %f \r\n",rpy.x/M_PI*180.0f,rpy.y/M_PI*180.0f);
}
// eeprom書き込み・読み込みに必要な関数