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:
- 98:39e4d1844a24
- Parent:
- 95:98dbbcc6b39d
- Child:
- 100:473d550dfbfa
diff -r 2a65f22488e4 -r 39e4d1844a24 run.cpp
--- a/run.cpp Wed Feb 02 08:37:33 2022 +0000
+++ b/run.cpp Wed Feb 02 09:38:31 2022 +0000
@@ -187,6 +187,8 @@
if(gpsUpdateFlag==true){
Vector3 pi(updateValues.pi[0], updateValues.pi[1], updateValues.pi[2]);
Vector3 vi(updateValues.vi[0], updateValues.vi[1], updateValues.vi[2]);
+ Rgps(1, 1) = (updateValues.gps_acc * 0.849f) * (updateValues.gps_acc * 0.849f);
+ Rgps(2, 2) = (updateValues.gps_acc * 0.849f) * (updateValues.gps_acc * 0.849f);
eskf.updateGPS(MatrixMath::Vector2mat(pi),palt,MatrixMath::Vector2mat(vi),Rgps);
}else if(headingUpdateFlag == true){
float heading = atan2f(-mag.y,mag.x);