HAPSRG / Mbed 2 deprecated hexaTest_Eigen

solaESKF_EIGEN

Dependencies:   mbed LPS25HB_I2C LSM9DS1 PIDcontroller LoopTicker GPSUBX_UART_Eigen SBUS_without_mainfile MedianFilter Eigen UsaPack solaESKF_Eigen Vector3 CalibrateMagneto FastPWM

transferData.cpp@92:00460f6df439, 2021-10-28 (annotated)

Committer:
NaotoMorita
Date:
Thu Oct 28 09:44:47 2021 +0000
Revision:
92:00460f6df439
Parent:
90:96c2b0ed4b96
Child:
93:b827f78a717a
for PmodNAV

Who changed what in which revision?

UserRevisionLine numberNew contents of line
osaka 87:89bbbcdb667b 1 #include "global.hpp"
osaka 87:89bbbcdb667b 2
osaka 87:89bbbcdb667b 3 void sendData2PC()
osaka 87:89bbbcdb667b 4 {
osaka 87:89bbbcdb667b 5 sp.da = da;
osaka 87:89bbbcdb667b 6 sp.de = de;
osaka 87:89bbbcdb667b 7 sp.dT = dT;
osaka 87:89bbbcdb667b 8 sp.rpy[0] = rpy.x*180.0f/M_PI;
osaka 87:89bbbcdb667b 9 sp.rpy[1] = rpy.y*180.0f/M_PI;
osaka 87:89bbbcdb667b 10 sp.rpy[2] = rpy.z*180.0f/M_PI;
NaotoMorita 92:00460f6df439 11 sp.vihat[0] = eskf.vihat(1,1);
NaotoMorita 92:00460f6df439 12 sp.vihat[1] = eskf.vihat(2,1);
NaotoMorita 92:00460f6df439 13 sp.vihat[2] = eskf.vihat(3,1);
osaka 87:89bbbcdb667b 14 pc.Send(0000, &(sp));
osaka 87:89bbbcdb667b 15 }
osaka 87:89bbbcdb667b 16
osaka 87:89bbbcdb667b 17 void sendTelemetry()
osaka 87:89bbbcdb667b 18 {
osaka 88:be349faa1976 19 //twelite.printf("%f %f %f %f %f %f\r\n",da,de,dT,rpy.x*180.0f/M_PI,rpy.y*180.0f/M_PI,rpy.z*180.0f/M_PI);
NaotoMorita 92:00460f6df439 20 //twelite.printf("%f %f %f %f %f %f %f\r\n",1.0f/att_dt,eskf.vihat(1,1), eskf.vihat(2,1), eskf.vihat(3,1),rpy.x*180.0f/M_PI,rpy.y*180.0f/M_PI,rpy.z*180.0f/M_PI);
NaotoMorita 92:00460f6df439 21 //twelite.printf("%f %f %f %f %f %f\r\n",pi.x,pi.y,pi.z,vi.x,vi.y,vi.z);
NaotoMorita 92:00460f6df439 22 twelite.printf("%f %f %f %f %f %f %f %f %f\r\n", lsm.ax, lsm.ay, lsm.az, lsm.gx, lsm.gy, lsm.gz, lsm.mx, lsm.my, lsm.mz);
osaka 87:89bbbcdb667b 23 }
osaka 87:89bbbcdb667b 24
osaka 87:89bbbcdb667b 25 void writeSDcard()
osaka 87:89bbbcdb667b 26 {
osaka 88:be349faa1976 27 //sd.printf("%f %f %f %f %f %f\r\n",da,de,dT,rpy.x*180.0f/M_PI,rpy.y*180.0f/M_PI,rpy.z*180.0f/M_PI);
osaka 87:89bbbcdb667b 28 }