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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:
- 87:981895e1d4f2
- Parent:
- 86:6b8e797306b6
- Child:
- 88:0fc5df2fddcb
--- a/run.cpp Thu Dec 16 12:19:18 2021 +0000
+++ b/run.cpp Fri Jan 07 09:49:19 2022 +0000
@@ -217,9 +217,11 @@
theading = _t.read();
}
}
- eskf.updateAcc(MatrixMath::Vector2mat(acc),Racc);
- /*
- if(updateValues.gpsUpdateFlag == true){
+ //eskf.updateAcc(MatrixMath::Vector2mat(acc),Racc);
+ pc.printf("%f %f %f %f %f %f\n", updateValues.pi[0], updateValues.pi[1], updateValues.pi[2], updateValues.vi[0], updateValues.vi[1], updateValues.vi[2]);
+
+ if((gpsitow != updateValues.gps_itow) && (updateValues.gps_fix == 0x03)){
+ gpsitow = updateValues.gps_itow;
Vector3 pi(updateValues.pi[0], updateValues.pi[1], updateValues.pi[2]);
Vector3 vi(updateValues.vi[0], updateValues.vi[1], updateValues.vi[2]);
eskf.updateGPS(MatrixMath::Vector2mat(pi),palt,MatrixMath::Vector2mat(vi),Rgps);
@@ -238,7 +240,7 @@
eskf.updateAcc(MatrixMath::Vector2mat(acc),Racc);
}
}
- */
+
PIDtick.loop();
//制御時間を計測