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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:
- 63:851e96f54a86
- Parent:
- 61:c05353850017
- Child:
- 66:a210d7130a44
diff -r ef10fd919f7b -r 851e96f54a86 run.cpp
--- a/run.cpp Wed Jun 09 07:50:18 2021 +0000
+++ b/run.cpp Tue Jun 22 07:01:20 2021 +0000
@@ -59,13 +59,14 @@
{
if (i == pos_tail)
{
- break;
+ continue;
}
else
{
tail.Subscribe(tail_address[i], &(posValues[i]));
}
}
+ tail.Subscribe(time_address, &broadcast_time);
LoopTicker PIDtick;
PIDtick.attach(calcServoOut,PID_dt);
@@ -81,6 +82,12 @@
ekf.updateBetweenMeasures(gyro, att_dt);
ekf.computeAngles(rpy, rpy_g, rpy_align);
PIDtick.loop();
+ if (broadcast_time.ms != system_time.ms)
+ {
+ system_time = broadcast_time;
+ system_dt.reset();
+ system_dt.start();
+ }
float tend = _t.read();
att_dt = (tend-tstart);