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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:
- 73:be7a8b8188de
- Parent:
- 71:62eb45ecffe9
- Child:
- 76:f6617891a867
--- a/run.cpp Fri Aug 20 07:51:51 2021 +0000
+++ b/run.cpp Wed Aug 25 07:01:12 2021 +0000
@@ -64,19 +64,8 @@
att_dt = (tend-tstart);
}
accref.z = sumaccnorm / 1000.0f;
-
- for (int i = 0; i < 3; i++)
- {
- if (i == pos_tail)
- {
- continue;
- }
- else
- {
- tail.Subscribe(tail_address[i], &(posValues[i]));
- }
- }
- tail.Subscribe(time_address, &broadcast_time);
+
+ tail.Subscribe(tail_address[pos_tail], &(updateValues));
LoopTicker PIDtick;
PIDtick.attach(calcServoOut,PID_dt);