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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:
- 96:0be0d80d5299
- Parent:
- 92:6a2319f7f6ed
- Child:
- 97:2a65f22488e4
diff -r 6a2319f7f6ed -r 0be0d80d5299 datatransfer.cpp
--- a/datatransfer.cpp Thu Jan 13 11:15:34 2022 +0000
+++ b/datatransfer.cpp Wed Feb 02 08:31:16 2022 +0000
@@ -18,6 +18,14 @@
vp.altitude = -palt;
vp.de = de;
vp.deobj = deobj;
+ Matrix pihat = eskf.getPihat();
+ vp.pi[0] = pihat(1, 1);
+ vp.pi[1] = pihat(2, 1);
+ vp.pi[2] = pihat(3, 1);
+ Matrix vihat = eskf.getVihat();
+ vp.vi[0] = vihat(1, 1);
+ vp.vi[1] = vihat(2, 1);
+ vp.vi[2] = vihat(3, 1);
if (prefligt_finished)
{
vp.readyFlag = 1;