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:
- cocorlow
- Date:
- 2021-12-10
- Revision:
- 141:725321fe2949
- Parent:
- 139:b378528c05f2
- Child:
- 143:53808e4e684c
File content as of revision 141:725321fe2949:
#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 = gps.VelocityNED; if(gpsLlh0Fixed == false){ gps.CalculateUnit(); gpsLlh0Fixed = true; }else{ gps.Calculate(); } pi = gps.PositionNED; gpsUpdateFlag = true; } } }