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

Diff: imu.cpp

Revision:
102:1c77ff6e2a85
Parent:
101:200e98dad7f8
Child:
104:20b8caa29185
--- a/imu.cpp	Sun Nov 07 05:38:17 2021 +0000
+++ b/imu.cpp	Mon Nov 08 09:20:21 2021 +0000
@@ -23,11 +23,11 @@
         
         Matrix magraw(3,1);
         magraw << lsm.mx <<lsm.my << lsm.mz;
-        float magres = magCalibrator.calcResidial(magraw);
-        if(magres>0.01){
-            magCalibrator.updateParams(magraw,0.0001f);
+        magres = magCalibrator.calcResidial(magraw);
+        if(magres > magresThreshold){
+            magCalibrator.updateParams(magraw,0.001f);
         };
-        Matrix magmod = magCalibrator.outCalibratedMag(magraw);
+        Matrix magmod = SensorAlignment*magCalibrator.outCalibratedMag(magraw);
         mag.x = magmod(1,1);
         mag.y = magmod(2,1);
         mag.z = magmod(3,1);