solaESKF_EIGEN
Dependencies: mbed LPS25HB_I2C LSM9DS1 PIDcontroller LoopTicker GPSUBX_UART_Eigen SBUS_without_mainfile MedianFilter Eigen UsaPack solaESKF_Eigen Vector3 CalibrateMagneto FastPWM
Diff: gps.cpp
- Revision:
- 143:53808e4e684c
- Parent:
- 141:725321fe2949
--- a/gps.cpp Fri Dec 10 11:20:13 2021 +0000 +++ b/gps.cpp Fri Jun 24 05:44:34 2022 +0000 @@ -7,15 +7,15 @@ if (gps.iTOW_STATUS != itow_status){ itow_status = gps.iTOW_STATUS; if(gps.gpsFix == 0x02 || gps.gpsFix == 0x03){ - vi = gps.VelocityNED; if(gpsLlh0Fixed == false){ gps.CalculateUnit(); + gps.Calculate(pi(0),pi(1),pi(2),vi(0),vi(1),vi(2)); + gpsUpdateFlag = true; gpsLlh0Fixed = true; }else{ - gps.Calculate(); + gps.Calculate(pi(0),pi(1),pi(2),vi(0),vi(1),vi(2)); + gpsUpdateFlag = true; } - pi = gps.PositionNED; - gpsUpdateFlag = true; } } }