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: hil.cpp

Revision:
94:579e875a4244
Parent:
93:b827f78a717a
Child:
102:1c77ff6e2a85
--- a/hil.cpp	Fri Oct 29 13:30:24 2021 +0000
+++ b/hil.cpp	Mon Nov 01 09:18:07 2021 +0000
@@ -14,6 +14,7 @@
     accref.z =  1.0f;
     
     float sigma_mag = 0.1f;
+    float sigma_palt = 1.0f;
     
     lsm.readAccel();
     lsm.readMag();
@@ -43,6 +44,8 @@
     mag.z = float(vp.magData[2])/1000.0f + sigma_mag*randn();
     mag = magMedian.Process(mag);
     
+    palt =  float(vp.piData[2])/1.0f + sigma_palt*randn();
+    
     if(abs(vp.accData[0])<0.0001f && abs(vp.accData[1])<0.0001f && abs(vp.accData[2])<0.0001f){
         acc.x = 0.0f;
         acc.y = 0.0f;