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: imu.cpp

Revision:
114:88abd741f44d
Parent:
113:3e47d9881529
--- a/imu.cpp	Tue Nov 16 13:57:32 2021 +0000
+++ b/imu.cpp	Tue Nov 16 14:17:57 2021 +0000
@@ -23,11 +23,11 @@
         
         Matrix magraw(3,1);
         magraw << lsm.mx <<lsm.my << lsm.mz;
-        magres = magCalibrator.calcResidial(magraw);
-        if(magres > magresThreshold){
-            magCalibrator.updateParams(magraw,0.1f);
-        };
-        Matrix magmod = SensorAlignmentMAG*magCalibrator.outCalibratedMag(magraw);
+        //magres = magCalibrator.calcResidial(magraw);
+        //if(magres > magresThreshold){
+        //    magCalibrator.updateParams(magraw,0.1f);
+        //};
+        Matrix magmod = SensorAlignmentMAG*(magraw);
         mag.x = magmod(1,1);
         mag.y = magmod(2,1);
         mag.z = magmod(3,1);