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

setup.cpp@87:89bbbcdb667b, 2021-10-20 (annotated)

Committer:
osaka
Date:
Wed Oct 20 01:50:52 2021 +0000
Revision:
87:89bbbcdb667b
Parent:
77:2bf856e3eca4
Child:
88:be349faa1976
Pmod nav

Who changed what in which revision?

UserRevisionLine numberNew contents of line
cocorlow 56:888379912f81 1 #include "global.hpp"
cocorlow 56:888379912f81 2
cocorlow 56:888379912f81 3 void setup()
cocorlow 56:888379912f81 4 {
cocorlow 56:888379912f81 5 pitchPID.setSetPoint(0.0);
cocorlow 56:888379912f81 6 pitchratePID.setSetPoint(0.0);
NaotoMorita 70:99f974d8960e 7 rollPID.setSetPoint(0.0);
NaotoMorita 70:99f974d8960e 8 rollratePID.setSetPoint(0.0);
cocorlow 56:888379912f81 9 pitchPID.setBias(0.0);
NaotoMorita 70:99f974d8960e 10 pitchratePID.setBias(0.0);
NaotoMorita 70:99f974d8960e 11 rollPID.setBias(0.0);
NaotoMorita 70:99f974d8960e 12 rollratePID.setBias(0.0);
cocorlow 56:888379912f81 13 pitchPID.setOutputLimits(-1.0,1.0);
cocorlow 56:888379912f81 14 pitchratePID.setOutputLimits(-1.0,1.0);
NaotoMorita 70:99f974d8960e 15 rollPID.setOutputLimits(-1.0,1.0);
NaotoMorita 70:99f974d8960e 16 rollratePID.setOutputLimits(-1.0,1.0);
NaotoMorita 70:99f974d8960e 17 pitchPID.setInputLimits(-M_PI,M_PI);
NaotoMorita 70:99f974d8960e 18 pitchratePID.setInputLimits(-M_PI,M_PI);
NaotoMorita 70:99f974d8960e 19 rollPID.setInputLimits(-M_PI,M_PI);
NaotoMorita 70:99f974d8960e 20 rollratePID.setInputLimits(-M_PI,M_PI);
cocorlow 56:888379912f81 21
NaotoMorita 70:99f974d8960e 22 servoRight.period_us(15000.0);
NaotoMorita 70:99f974d8960e 23 servoLeft.period_us(15000.0);
NaotoMorita 70:99f974d8960e 24 servoThrust.period_us(15000.0);
NaotoMorita 70:99f974d8960e 25 servoRight.pulsewidth_us(1500.0);
NaotoMorita 70:99f974d8960e 26 servoLeft.pulsewidth_us(1500.0);
NaotoMorita 70:99f974d8960e 27 servoThrust.pulsewidth_us(1100.0);
cocorlow 56:888379912f81 28
osaka 87:89bbbcdb667b 29 sd.baud(115200);
NaotoMorita 76:7fd3ac1afe3e 30 sd.printf("\r\nFlight Start\r\n");
osaka 87:89bbbcdb667b 31 twelite.baud(38400);
osaka 87:89bbbcdb667b 32 twelite.printf("\r\nTelemetory Start\r\n");
cocorlow 56:888379912f81 33 }
cocorlow 56:888379912f81 34
cocorlow 56:888379912f81 35 void calibrate()
cocorlow 56:888379912f81 36 {
cocorlow 56:888379912f81 37 while(1)
cocorlow 56:888379912f81 38 {
cocorlow 56:888379912f81 39 wait(1000);
cocorlow 56:888379912f81 40 }
cocorlow 56:888379912f81 41 }