HAPSRG / Mbed 2 deprecated HAPStail

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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:
70:9e7be21475f8
Parent:
69:0caaad87cf1d
Child:
71:62eb45ecffe9
diff -r 0caaad87cf1d -r 9e7be21475f8 run.cpp
--- a/run.cpp	Mon Jun 28 03:30:54 2021 +0000
+++ b/run.cpp	Tue Jun 29 10:53:06 2021 +0000
@@ -19,6 +19,12 @@
     magbiasMax[2] = float(read_calib.i[6])/1000.0f;
     rpy_align.y = float(read_calib.i[10])/200000.0f;
     rpy_align.x = float(read_calib.i[11])/200000.0f;
+    accMin[0] = float(read_calib.i[12])/1000.0f;
+    accMin[1] = float(read_calib.i[13])/1000.0f;
+    accMin[2] = float(read_calib.i[14])/1000.0f;
+    accMax[0] = float(read_calib.i[15])/1000.0f;
+    accMax[1] = float(read_calib.i[16])/1000.0f;
+    accMax[2] = float(read_calib.i[17])/1000.0f;
     magCalibrator.setExtremes(magbiasMin,magbiasMax);
 //    tail_address[pos_tail] = (int)read_calib.i[10];
     
@@ -54,7 +60,6 @@
         ekf.updateErrState(gyro, att_dt);
         ekf.updateStaticAccMeasures(acc,accref);
         ekf.fuseErr2Qhat();
-        //ekf.resetGyroBias(gyroBias);
         ekf.updateMagMeasures(mag);
         ekf.computeAngles(rpy, rpy_align);
         sumaccnorm += acc.Norm();