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: global.cpp

Revision:
140:53dbdb207542
Parent:
139:b378528c05f2
Child:
141:725321fe2949
--- a/global.cpp	Mon Dec 06 08:26:16 2021 +0000
+++ b/global.cpp	Mon Dec 06 11:37:55 2021 +0000
@@ -25,9 +25,9 @@
 PID pitchratePID(1.0f, 0.0f, 0.0f, PID_dt);//rad/s
 PID rollPID(5.0f,0.0f,0.0f,PID_dt);
 PID rollratePID(0.05f, 0.0, 0.0, PID_dt);//rad/s
-//solaESKF eskf; // ESKF class
+solaESKF eskf; // ESKF class
 int obsCount = 0;
-//Autopilot autopilot;
+Autopilot autopilot;
 float roll_obj;
 float pitch_obj;
 float dT_obj;
@@ -36,9 +36,9 @@
 int loop_count = 0;
 float att_dt = 0.01f;
 // position
-Matrix3f SensorAlignmentAG(3,3);
-Matrix3f SensorAlignmentMAG(3,3);
-Vector3f euler(3,1);
+Matrix3f SensorAlignmentAG;
+Matrix3f SensorAlignmentMAG;
+Vector3f euler;
 Vector3f rpy(0.0f, 0.0f, 0.0f); // x:roll  y:pitch  z:yaw
 Vector3f acc;
 Vector3f accref(0.0f, 0.0f, 9.8f);