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: setup.cpp

Revision:
77:2bf856e3eca4
Parent:
76:7fd3ac1afe3e
Child:
87:89bbbcdb667b
--- a/setup.cpp	Sat Aug 07 06:54:58 2021 +0000
+++ b/setup.cpp	Tue Sep 07 08:13:45 2021 +0000
@@ -144,11 +144,11 @@
         float tstart = _t.read();
         //姿勢角を更新
         getIMUval();
-        ekf.updateQhat(gyro, att_dt);
-        ekf.updateErrState(gyro, att_dt);
+        ekf.updateNominal(gyro,acc,accref,att_dt);
+        ekf.updateErrState(gyro,acc, att_dt);
         ekf.updateStaticAccMeasures(acc,accref);
-        ekf.fuseErr2Qhat();
-        ekf.updateMagMeasures(mag);
+        ekf.fuseErr2Nominal();
+        //ekf.updateMagMeasures(mag);
         ekf.computeAngles(rpy, rpy_align);
         if(i>199)
         {