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Dependencies: mbed MatrixMath LPS25HB_I2C LSM9DS1 Matrix2 PIDcontroller LoopTicker SBUS_without_mainfile UsaPack solaESKF_wind Vector3 CalibrateMagneto FastPWM
Diff: servo.cpp
- Revision:
- 61:c05353850017
- Parent:
- 57:923e3df16159
- Child:
- 62:ef10fd919f7b
--- a/servo.cpp Wed Jun 02 06:14:47 2021 +0000
+++ b/servo.cpp Thu Jun 03 11:28:13 2021 +0000
@@ -71,9 +71,9 @@
//int ang_th = th_mg < 0.01877522;
//int dyn_th = dynaccnorm < 0.00514146;
//int norm_th = accnormerr< 0.00477393;
- int ang_th = th_mg < 0.01877522/5.0;
- int dyn_th = dynacc.Norm() < 0.00514146/5.0;
- int norm_th = accnormerr< 0.00477393/5.0;
+ int ang_th = th_mg < sigma_thmg/200.0;
+ int dyn_th = dynacc.Norm() < sigma_accnorm/50.0;
+ int norm_th = accnormerr< sigma_accnorm/50.0;
if(dyn_th+ang_th+norm_th>0)
{
//if(dyn_th+ang_th+norm_th>-1){