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

gps.cpp

Committer:
NaotoMorita
Date:
2021-11-12
Revision:
106:2d854e92cebb
Parent:
100:7589b663d462
Child:
139:b378528c05f2

File content as of revision 106:2d854e92cebb:

#include "global.hpp"

void getGPSval()
{
    gpsUpdateFlag = false;
    gps.Update();
    if (gps.iTOW_STATUS != itow_status){
        itow_status = gps.iTOW_STATUS;
        if(gps.gpsFix == 0x02 || gps.gpsFix == 0x03){
            vi.x = gps.VelocityNED.x;
            vi.y = gps.VelocityNED.y;
            vi.z = gps.VelocityNED.z;
            if(gpsLlh0Fixed == false){
                gps.CalculateUnit();
                gpsLlh0Fixed = true;
            }else{
                gps.Calculate();
            }
            pi.x = gps.PositionNED.x;
            pi.y = gps.PositionNED.y;
            pi.z = gps.PositionNED.z;
            gpsUpdateFlag = true;
        }
    }
}