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: main.cpp

Revision:
19:61d7e9b4b6c2
Parent:
17:6b7a363d06d2
Child:
20:2c3f113a8e8f
--- a/main.cpp	Thu Feb 04 09:17:24 2021 +0000
+++ b/main.cpp	Fri Feb 05 04:58:07 2021 +0000
@@ -38,6 +38,7 @@
 Madgwick MadgwickFilter;
 SBUS sbus(PD_5, PD_6);
 Serial pc(USBTX, USBRX);
+Serial sd(PE_8,PE_7);
 DigitalOut led1(LED1);
 DigitalOut led3(LED3);
 PwmOut servoRight(PE_9);
@@ -68,7 +69,9 @@
 
 int main()
 {
+    int count = 0;
     pc.baud(115200);
+    sd.baud(9600);
     accelgyro.initialize();
     uint8_t offsetVal[6] = {0,0,0,0,0,0};
     accelgyro.setXAccelOffset(offsetVal[0]);
@@ -89,6 +92,11 @@
     MadgwickFilter.begin(100); //サンプリング周波数Hza
     t.start();
     while(1) {
+        if(count == 50){
+            sd.printf("test");
+            count = 0;  
+        }
+        count ++;
         float tstart = t.read();
         if(sbus.failSafe == false)
         {