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

gps.cpp@97:2b3242c2dd85, 2021-11-03 (annotated)

Committer:
osaka
Date:
Wed Nov 03 09:28:38 2021 +0000
Revision:
97:2b3242c2dd85
Parent:
96:3645f8f9bdd3
Child:
98:bdaa6bbfb1d9
for GPS test

Who changed what in which revision?

UserRevisionLine numberNew contents of line
osaka 96:3645f8f9bdd3 1 #include "global.hpp"
osaka 96:3645f8f9bdd3 2
osaka 96:3645f8f9bdd3 3 void getGPSval()
osaka 96:3645f8f9bdd3 4 {
osaka 96:3645f8f9bdd3 5 gps.Update();
osaka 97:2b3242c2dd85 6 if (gps.iTOW_VELNED != itow_velned)
osaka 97:2b3242c2dd85 7 {
osaka 97:2b3242c2dd85 8 itow_velned = gps.iTOW_VELNED;
osaka 97:2b3242c2dd85 9 vi.x = gps.VelocityNED.x;
osaka 97:2b3242c2dd85 10 vi.y = gps.VelocityNED.y;
osaka 97:2b3242c2dd85 11 vi.z = gps.VelocityNED.z;
osaka 97:2b3242c2dd85 12 }
osaka 97:2b3242c2dd85 13 if (gps.iTOW_POSLLH != itow_posllh)
osaka 97:2b3242c2dd85 14 {
osaka 97:2b3242c2dd85 15 itow_posllh = gps.iTOW_POSLLH;
osaka 97:2b3242c2dd85 16 change_refpos();
osaka 97:2b3242c2dd85 17 gps.Calculate();
osaka 97:2b3242c2dd85 18 pi.x = gps.PositionNED.x;
osaka 97:2b3242c2dd85 19 pi.y = gps.PositionNED.y;
osaka 97:2b3242c2dd85 20 pi.z = gps.PositionNED.z;
osaka 97:2b3242c2dd85 21 }
osaka 97:2b3242c2dd85 22 }
osaka 97:2b3242c2dd85 23
osaka 97:2b3242c2dd85 24 //20m以上の変位で基準位置更新
osaka 97:2b3242c2dd85 25 void change_refpos()
osaka 97:2b3242c2dd85 26 {
osaka 97:2b3242c2dd85 27 float x_dist = gps.PositionNED.x - pi.x;
osaka 97:2b3242c2dd85 28 float y_dist = gps.PositionNED.y - pi.y;
osaka 97:2b3242c2dd85 29 float z_dist = gps.PositionNED.z - pi.z;
osaka 97:2b3242c2dd85 30 float dist = sqrt(x_dist*x_dist + y_dist*y_dist + z_dist*z_dist);
osaka 97:2b3242c2dd85 31 if (dist >= 20.0f)
osaka 97:2b3242c2dd85 32 {
osaka 97:2b3242c2dd85 33 gps.CalculateUnit();
osaka 97:2b3242c2dd85 34 eskf.setPihat(0.0f, 0.0f, 0.0f);
osaka 97:2b3242c2dd85 35 }
osaka 97:2b3242c2dd85 36 else
osaka 97:2b3242c2dd85 37 {
osaka 97:2b3242c2dd85 38 //何もしない
osaka 97:2b3242c2dd85 39 }
osaka 96:3645f8f9bdd3 40 }