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:
66:e5afad70fdd8
Parent:
61:c05353850017
Child:
68:b9f6938fab9d
--- a/imu.cpp	Tue Jun 22 02:08:31 2021 +0000
+++ b/imu.cpp	Tue Jun 22 02:19:14 2021 +0000
@@ -28,15 +28,4 @@
     mag.x = -outputMag[0];
     mag.y = -outputMag[1];
     mag.z = -outputMag[2];
-    
-    float lpc_acc = 0.95f;
-    LPacc = lpc_acc*acc + (1.0f-lpc_acc)*LPacc;
-
-    float lpc_mag = 0.45f;
-    LPmag = lpc_mag*mag + (1.0f-lpc_mag)*LPmag;
-    
-    val_thmg = 0.99f*val_thmg+0.01f*acos((mag % acc)/mag.Norm()/acc.Norm());
-    accref.z = 0.99f*accref.z + 0.01f*(-acc.Norm());
-    
-    magref = ekf.calcMagRef(LPmag/LPmag.Norm());
 }
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