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:
33:e79457192a4b
Parent:
32:c4f06cb0e1d6
Child:
35:4535af88f7bf
--- a/main.cpp	Mon Mar 01 09:08:09 2021 +0000
+++ b/main.cpp	Tue Mar 02 04:28:08 2021 +0000
@@ -5,6 +5,7 @@
 #include "LoopTicker.hpp"
 #include "MPU6050.h"
 #include <I2Cdev.h>
+#include "Matrix.h"
 
 #define MPU6050_PWR_MGMT_1   0x6B
 #define MPU_ADDRESS  0x68
@@ -31,6 +32,10 @@
 PID pitchratePID(0.01, 0.0, 0.0, PID_dt);//rad/s
 PID rollPID(3.0,0.0,0.0,PID_dt);
 PID rollratePID(0.01, 0.0, 0.0, PID_dt);//rad/s
+Quaternion qhat(1,0,0,0);
+Matrix Phat(4,4);
+Matrix Qgyro(3,3);
+Matrix Racc(3,3);
 Timer t;
 
 int loop_count = 0;
@@ -138,6 +143,10 @@
         MadgwickFilter.updateIMU(gyro_x, gyro_y, gyro_z, acc_x, acc_y, acc_z);
 }
 
+void updateBetweenMeasures(){
+    
+}
+
 int main()
 {
     LoopTicker PIDtick;