solaESKF_EIGEN
Dependencies: mbed LPS25HB_I2C LSM9DS1 PIDcontroller LoopTicker GPSUBX_UART_Eigen SBUS_without_mainfile MedianFilter Eigen UsaPack solaESKF_Eigen Vector3 CalibrateMagneto FastPWM
autopilot.cpp@109:eb255fc4462b, 2021-11-12 (annotated)
- Committer:
- osaka
- Date:
- Fri Nov 12 10:50:56 2021 +0000
- Revision:
- 109:eb255fc4462b
- Child:
- 110:5bf69c7afdbf
merged manually
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
osaka | 109:eb255fc4462b | 1 | #include "global.hpp" |
osaka | 109:eb255fc4462b | 2 | |
osaka | 109:eb255fc4462b | 3 | void level_flight() |
osaka | 109:eb255fc4462b | 4 | { |
osaka | 109:eb255fc4462b | 5 | autopilot.update_val(rpy, palt, pi); |
osaka | 109:eb255fc4462b | 6 | autopilot.level(); |
osaka | 109:eb255fc4462b | 7 | obj = autopilot.return_val(); |
osaka | 109:eb255fc4462b | 8 | roll_obj = obj[0]; |
osaka | 109:eb255fc4462b | 9 | } |
osaka | 109:eb255fc4462b | 10 | |
osaka | 109:eb255fc4462b | 11 | void point_guide() |
osaka | 109:eb255fc4462b | 12 | { |
osaka | 109:eb255fc4462b | 13 | autopilot.update_val(rpy, palt, pi); |
osaka | 109:eb255fc4462b | 14 | autopilot.guide(); |
osaka | 109:eb255fc4462b | 15 | obj = autopilot.return_val(); |
osaka | 109:eb255fc4462b | 16 | roll_obj = obj[0]; |
osaka | 109:eb255fc4462b | 17 | |
osaka | 109:eb255fc4462b | 18 | } |
osaka | 109:eb255fc4462b | 19 | |
osaka | 109:eb255fc4462b | 20 | void turning() |
osaka | 109:eb255fc4462b | 21 | { |
osaka | 109:eb255fc4462b | 22 | autopilot.update_val(rpy, palt, pi); |
osaka | 109:eb255fc4462b | 23 | autopilot.turn(); |
osaka | 109:eb255fc4462b | 24 | obj = autopilot.return_val(); |
osaka | 109:eb255fc4462b | 25 | roll_obj = obj[0]; |
osaka | 109:eb255fc4462b | 26 | } |