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@89:c9f64bd655d9, 2021-10-25 (annotated)

Committer:
NaotoMorita
Date:
Mon Oct 25 05:39:34 2021 +0000
Revision:
89:c9f64bd655d9
Parent:
88:be349faa1976
Child:
90:96c2b0ed4b96
12state only gps

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;
osaka 87:89bbbcdb667b 11 sp.vi[0] = vi.x;
osaka 87:89bbbcdb667b 12 sp.vi[1] = vi.y;
osaka 87:89bbbcdb667b 13 sp.vi[2] = vi.z;
osaka 87:89bbbcdb667b 14 sp.vihat[0] = ekf.vihat(1,1);
osaka 87:89bbbcdb667b 15 sp.vihat[1] = ekf.vihat(2,1);
osaka 87:89bbbcdb667b 16 sp.vihat[2] = ekf.vihat(3,1);
osaka 87:89bbbcdb667b 17 sp.accBias[0] = ekf.accBias.x;
osaka 87:89bbbcdb667b 18 sp.accBias[1] = ekf.accBias.y;
osaka 87:89bbbcdb667b 19 sp.accBias[2] = ekf.accBias.z;
osaka 87:89bbbcdb667b 20 pc.Send(0000, &(sp));
osaka 87:89bbbcdb667b 21 }
osaka 87:89bbbcdb667b 22
osaka 87:89bbbcdb667b 23 void sendTelemetry()
osaka 87:89bbbcdb667b 24 {
osaka 88:be349faa1976 25 //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 89:c9f64bd655d9 26 twelite.printf("%f %f %f %f %f %f %f %f %f %f %f %f\r\n",ekf.accned(1,1),ekf.accned(2,1),ekf.accned(3,1),ekf.vihat(1,1), ekf.vihat(2,1), ekf.vihat(3,1),ekf.errState(10,1),ekf.errState(11,1),ekf.errState(12,1),rpy.x*180.0f/M_PI,rpy.y*180.0f/M_PI,rpy.z*180.0f/M_PI);
NaotoMorita 89:c9f64bd655d9 27 //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 28 }
osaka 87:89bbbcdb667b 29
osaka 87:89bbbcdb667b 30 void writeSDcard()
osaka 87:89bbbcdb667b 31 {
osaka 88:be349faa1976 32 //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 33 }