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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:
- 84:028bd650e8bc
- Parent:
- 81:b1526a4eec17
- Child:
- 86:6b8e797306b6
diff -r 0a644de28415 -r 028bd650e8bc datatransfer.cpp
--- a/datatransfer.cpp Mon Dec 06 11:16:56 2021 +0000
+++ b/datatransfer.cpp Mon Dec 06 12:58:20 2021 +0000
@@ -3,9 +3,7 @@
void send2center()
{
valuePack& vp = posValues;
- vp.day = updateValues.day;
- vp.ms = updateValues.ms;
- ekf.getGyroBias(vp.gyroBias, vp.gyroBiasCov);
+ eskf.getGyroBias();
//ekf.getAccBias(vp.accBias, vp.accBiasCov);
vp.acc[0] = acc.x;
vp.acc[1] = acc.y;
@@ -25,7 +23,7 @@
vp.rc[i] = rc[i];
}
tail.Send(tail_address[pos_tail], &(posValues));
- ekf.updateCenteredGyroBiasCorrection(updateValues.gyroBias);
+ //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);