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Dependencies: mbed MatrixMath LPS25HB_I2C LSM9DS1 Matrix2 PIDcontroller LoopTicker SBUS_without_mainfile UsaPack solaESKF_wind Vector3 CalibrateMagneto FastPWM
Diff: global.cpp
- Revision:
- 70:9e7be21475f8
- Parent:
- 69:0caaad87cf1d
- Child:
- 71:62eb45ecffe9
diff -r 0caaad87cf1d -r 9e7be21475f8 global.cpp
--- a/global.cpp Mon Jun 28 03:30:54 2021 +0000
+++ b/global.cpp Tue Jun 29 10:53:06 2021 +0000
@@ -47,9 +47,9 @@
Vector3 magref(0.65f, 0.0f, 0.75f);
Vector3 dynacc;
Vector3 gyro;
-
-Vector3 LPacc(0.0f, 0.0f, 0.0f);
-Vector3 LPmag(0.0f, 0.0f, 0.0f);
+MedianFilter accMedian(3);
+MedianFilter gyroMedian(3);
+MedianFilter magMedian(3);
int out1, out2;
float scaledServoOut[1] = {0.0f};
@@ -66,6 +66,8 @@
int agoffset[6] = {0, 0, 0, 386, -450, 48};
float magbiasMin[3] = {0.0f, 0.0f, 0.0f};
float magbiasMax[3] = {0.0f, 0.0f, 0.0f};
+float accMin[3] = {-0.974521, -1.010208, -1.055415};
+float accMax[3] = { 1.036735, 0.973873, 0.969753};
Vector3 rpy_align(0.0f*M_PI/180.0f, 0.0f*M_PI/180.0f, 0.0f);