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:
43:f0dd73430192
Parent:
40:869f3791a3e2
Child:
44:f571273d3223
--- a/main.cpp	Tue Mar 23 06:37:24 2021 +0000
+++ b/main.cpp	Fri Apr 02 07:22:09 2021 +0000
@@ -541,10 +541,13 @@
              << 0   << 0   <<1;   
         getIMUval();
         triad(acc_x/accnorm,acc_y/accnorm,acc_z/accnorm, accref[0]/accrefnorm,accref[1]/accrefnorm,accref[2]/accrefnorm,mag_x/magnorm,mag_y/magnorm,mag_z/magnorm, magref[0]/magrefnorm,magref[1]/magrefnorm,magref[2]/magrefnorm);
+        float sumLPaccnorm = 0;
         for(int i = 0; i<1000 ;i++){
             getIMUval();
             val_thmg += acos((mag_x*acc_x+mag_y*acc_y+mag_z*acc_z)/magnorm/accnorm);
+            sumLPaccnorm += LPaccnorm;
         }
+        accref[2]=-sumLPaccnorm/1000;
         val_thmg /= 1000;
         LoopTicker PIDtick;
         PIDtick.attach(calcServoOut,PID_dt);