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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:
- 66:a210d7130a44
- Parent:
- 63:851e96f54a86
- Child:
- 69:0caaad87cf1d
--- a/run.cpp Tue Jun 22 09:25:32 2021 +0000
+++ b/run.cpp Tue Jun 22 10:12:21 2021 +0000
@@ -82,12 +82,12 @@
ekf.updateBetweenMeasures(gyro, att_dt);
ekf.computeAngles(rpy, rpy_g, rpy_align);
PIDtick.loop();
- if (broadcast_time.ms != system_time.ms)
- {
- system_time = broadcast_time;
- system_dt.reset();
- system_dt.start();
- }
+// if (broadcast_time.ms != system_time.ms)
+// {
+// system_time = broadcast_time;
+// system_dt.reset();
+// system_dt.start();
+// }
float tend = _t.read();
att_dt = (tend-tstart);