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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:
- 114:ba221936d53a
- Parent:
- 109:27ae949bc38e
- Child:
- 116:248f2d8cc11e
diff -r c3794f8afe7e -r ba221936d53a run.cpp
--- a/run.cpp Tue Mar 22 09:42:05 2022 +0000
+++ b/run.cpp Wed Mar 23 11:55:07 2022 +0000
@@ -86,8 +86,8 @@
if(sensorUpdateID==1){
Matrix euler = eskf.computeAngles();
if(fabsf(euler(2,1))<30.0f*M_PI/180.0f){
- float heading = atan2f(-mag.y,mag.x);
- eskf.updateHeading(heading,Rheading);
+ //float heading = atan2f(-mag.y,mag.x);
+ eskf.updateHeading(updateValues.heading,Rheading);
//pc.printf("heading\r\n");
}
sensorUpdateID += 1;