Diff: transferData.cpp

Revision:

144:b3a713b4f1c4

Parent:

143:53808e4e684c

--- a/transferData.cpp	Fri Jun 24 05:44:34 2022 +0000
+++ b/transferData.cpp	Wed Jun 29 07:57:10 2022 +0000
@@ -2,9 +2,10 @@
 
 void sendData2PC()
 {
-    sp.da = da;
-    sp.de = de;
-    sp.dT = dT;
+    
+    for(int i = 0;i<sizeof(scaledMotorOut)/sizeof(scaledMotorOut[0]) ;i++){
+        sp.motor[i] = scaledMotorOut[i];
+    }
     sp.euler[0] = euler(0)*180.0f/M_PI_F;
     sp.euler[1] = euler(1)*180.0f/M_PI_F;
     sp.euler[2] = euler(2)*180.0f/M_PI_F;
@@ -62,7 +63,7 @@
         }
         break;
     case 6 :
-        //gyroBias
+        //gravity
         for (int i = 0; i < 3; i++){
             sp.state[i] = state(i+16);
         }
@@ -131,18 +132,10 @@
     tp.wind[0] = 0.0f;
     tp.wind[1] = 0.0f;
     tp.wind[2] = 0.0f;
-    tp.pitch_obj = pitch_obj;
-    tp.roll_obj = roll_obj;
+    tp.pitch_obj = 0.0f;
+    tp.roll_obj = 0.0f;
     tp.u_pitot = 0.0f;
-    
-    if (hinf_flag)
-    {
-        tp.hinf = 1.0f;
-    }
-    else
-    {
-        tp.hinf = 0.0f;
-    }
+    tp.hinf = 0.0f;
 
     wait(0.001f);
 
@@ -189,8 +182,8 @@
     lp.wind[0] = 0.0f;
     lp.wind[1] = 0.0f;
     lp.wind[2] = 0.0f;
-    lp.pitch_obj = pitch_obj;
-    lp.roll_obj = roll_obj;
+    lp.pitch_obj = 0.0f;
+    lp.roll_obj = 0.0f;
     lp.u_pitot = 0.0f;
 
     //sd.printf("%f %f %f %f %f %f\r\n",da,de,dT,rpy.x*180.0f/M_PI,rpy.y*180.0f/M_PI,rpy.z*180.0f/M_PI);