Important changes to repositories hosted on mbed.com
Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.
To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.
It is also possible to export all your personal repositories from the account settings page.
Dependencies: mbed MatrixMath LPS25HB_I2C LSM9DS1 Matrix2 PIDcontroller LoopTicker SBUS_without_mainfile UsaPack solaESKF_wind Vector3 CalibrateMagneto FastPWM
Diff: run.cpp
- Revision:
- 109:27ae949bc38e
- Parent:
- 108:e582f8bd4729
- Child:
- 114:ba221936d53a
diff -r e582f8bd4729 -r 27ae949bc38e run.cpp
--- a/run.cpp Tue Mar 08 04:06:35 2022 +0000
+++ b/run.cpp Wed Mar 09 13:04:08 2022 +0000
@@ -92,21 +92,21 @@
}
sensorUpdateID += 1;
}else{
- float vnorm_opt2 = updateValues.vx_opt*updateValues.vx_opt+updateValues.vy_opt*updateValues.vy_opt;
- if(updateValues.dist_ir<1.0f && vnorm_opt2 < 400.0f){
- if(vnorm_opt2 < 0.1f){
- Matrix vbOpt(2,1);
- vbOpt(1,1) = updateValues.vx_opt;
- vbOpt(2,1) = updateValues.vy_opt;
- eskf.updateVb(vbOpt,Ropt*0.1f);
- }else{
+ //float vnorm_opt2 = updateValues.vx_opt*updateValues.vx_opt+updateValues.vy_opt*updateValues.vy_opt;
+ //if(updateValues.dist_ir<1.0f && vnorm_opt2 < 400.0f){
+ //if(vnorm_opt2 < 0.1f){
+ //Matrix vbOpt(2,1);
+ //vbOpt(1,1) = updateValues.vx_opt;
+ //vbOpt(2,1) = updateValues.vy_opt;
+ //eskf.updateVb(vbOpt,Ropt*0.1f);
+ //}else{
//Matrix vbOpt(2,1);
//vbOpt(1,1) = updateValues.vx_opt;
//vbOpt(2,1) = updateValues.vy_opt;
//eskf.updateVb(vbOpt,Ropt);
- }
+ //}
//pc.printf("opt\r\n");
- }
+ //}
sensorUpdateID=1;
}
}else{