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: 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;
         }
     }
 }