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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:
- 116:248f2d8cc11e
- Parent:
- 114:ba221936d53a
- Child:
- 118:97ffe77b6f38
diff -r ceb9ef04bb26 -r 248f2d8cc11e run.cpp
--- a/run.cpp Thu Mar 24 08:51:44 2022 +0000
+++ b/run.cpp Mon Mar 28 09:11:55 2022 +0000
@@ -56,6 +56,8 @@
//ekfの更新
eskf.updateNominal(MatrixMath::Vector2mat(acc),MatrixMath::Vector2mat(gyro),att_dt);
eskf.updateErrState(MatrixMath::Vector2mat(acc),MatrixMath::Vector2mat(gyro),att_dt);
+ Matrix pihat = eskf.getPihat();
+ //pc.printf("pihat: %f %f %f\r\n", pihat(1, 1), pihat(2, 1), pihat(3, 1));
//キャリブレーション中
if(updateValues.calibrationFlag == 1111){