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

setup.cpp

Committer:
osaka
Date:
2021-10-20
Revision:
87:89bbbcdb667b
Parent:
77:2bf856e3eca4
Child:
88:be349faa1976

File content as of revision 87:89bbbcdb667b:

#include "global.hpp"

void setup()
{
    pitchPID.setSetPoint(0.0);
    pitchratePID.setSetPoint(0.0); 
    rollPID.setSetPoint(0.0); 
    rollratePID.setSetPoint(0.0); 
    pitchPID.setBias(0.0);
    pitchratePID.setBias(0.0); 
    rollPID.setBias(0.0); 
    rollratePID.setBias(0.0); 
    pitchPID.setOutputLimits(-1.0,1.0);
    pitchratePID.setOutputLimits(-1.0,1.0);
    rollPID.setOutputLimits(-1.0,1.0); 
    rollratePID.setOutputLimits(-1.0,1.0);
    pitchPID.setInputLimits(-M_PI,M_PI);
    pitchratePID.setInputLimits(-M_PI,M_PI);
    rollPID.setInputLimits(-M_PI,M_PI); 
    rollratePID.setInputLimits(-M_PI,M_PI);
    
    servoRight.period_us(15000.0);
    servoLeft.period_us(15000.0);
    servoThrust.period_us(15000.0);
    servoRight.pulsewidth_us(1500.0);
    servoLeft.pulsewidth_us(1500.0); 
    servoThrust.pulsewidth_us(1100.0);
    
    sd.baud(115200);
    sd.printf("\r\nFlight Start\r\n");
    twelite.baud(38400);
    twelite.printf("\r\nTelemetory Start\r\n");
}

void calibrate()
{
    while(1)
    {
        wait(1000);
    }
}