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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:
- 85:0b14a2a600fc
- Parent:
- 82:3daf57031f65
- Child:
- 87:981895e1d4f2
diff -r 028bd650e8bc -r 0b14a2a600fc servo.cpp
--- a/servo.cpp Mon Dec 06 12:58:20 2021 +0000
+++ b/servo.cpp Fri Dec 10 12:15:01 2021 +0000
@@ -13,6 +13,12 @@
}
//pc.printf("rc:%f\r\n",rc[1]);
+ //姿勢角の取得
+ euler = eskf.computeAngles();
+ rpy.x = euler(1,1);
+ rpy.y = euler(2,1);
+ rpy.z = euler(3,1);
+
// 自身の位置に応じてエレベータ舵角を決定する
float derc = rc[1];
float darc = rc[0]-rc[1];