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:
- 99:98b892ca70ec
- Parent:
- 98:bdaa6bbfb1d9
- Child:
- 101:200e98dad7f8
--- a/imu.cpp Wed Nov 03 14:59:26 2021 +0000 +++ b/imu.cpp Thu Nov 04 09:42:19 2021 +0000 @@ -21,7 +21,7 @@ gyro.y = gyroAlign(2,1); gyro.z = gyroAlign(3,1); - palt = lps.pressureToAltitudeMeters(lps.readPressureMillibars()); + palt = -(lps.pressureToAltitudeMeters(lps.readPressureMillibars())-palt0); //printf("%f %f %f %f %f %f %f %f %f\n", lsm.ax, lsm.ay, lsm.az, lsm.gx, lsm.gy, lsm.gz, lsm.mx, lsm.my, lsm.mz); //printf("%f %f %f\n", lsm.gx, lsm.gy, lsm.gz);