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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:
- 81:b1526a4eec17
- Parent:
- 80:31e0ffc82931
- Child:
- 84:028bd650e8bc
--- a/datatransfer.cpp Wed Sep 29 06:41:22 2021 +0000
+++ b/datatransfer.cpp Wed Sep 29 06:49:22 2021 +0000
@@ -17,7 +17,7 @@
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;
@@ -28,7 +28,7 @@
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