solaESKF_EIGEN
Dependencies: mbed LPS25HB_I2C LSM9DS1 PIDcontroller LoopTicker GPSUBX_UART_Eigen SBUS_without_mainfile MedianFilter Eigen UsaPack solaESKF_Eigen Vector3 CalibrateMagneto FastPWM
autopilot.cpp
- Committer:
- cocorlow
- Date:
- 2021-12-06
- Revision:
- 139:b378528c05f2
- Parent:
- 137:240588882ae2
- Child:
- 140:53dbdb207542
File content as of revision 139:b378528c05f2:
//#include "global.hpp" // //void level_flight() //{ // Vector3 vdot = calc_vdot(); // Matrix pihat = eskf.getPihat(); // Matrix vihat = eskf.getVihat(); // autopilot.update_val(rpy, -palt, pihat, vihat, vdot); // autopilot.level(); // autopilot.keep_alt(); // autopilot.return_val(roll_obj, pitch_obj, dT_obj); //} // //void point_guide() //{ // Vector3 vdot = calc_vdot(); // Matrix pihat = eskf.getPihat(); // Matrix vihat = eskf.getVihat(); // autopilot.update_val(rpy, -palt, pihat, vihat, vdot); // autopilot.guide(); // autopilot.keep_alt(); // autopilot.return_val(roll_obj, pitch_obj, dT_obj); //} // //void turning() //{ // Vector3 vdot = calc_vdot(); // Matrix pihat = eskf.getPihat(); // Matrix vihat = eskf.getVihat(); // autopilot.update_val(rpy, -palt, pihat, vihat, vdot); // autopilot.turn(); // autopilot.keep_alt(); // autopilot.return_val(roll_obj, pitch_obj, dT_obj); //} // //void climb() //{ // Vector3 vdot = calc_vdot(); // Matrix pihat = eskf.getPihat(); // Matrix vihat = eskf.getVihat(); // autopilot.update_val(rpy, -palt, pihat, vihat, vdot); // autopilot.level(); // autopilot.climb(); // autopilot.return_val(roll_obj, pitch_obj, dT_obj); //} // //Vector3 calc_vdot() //{ // Matrix m_vdot = eskf.calcDynAcc(MatrixMath::Vector2mat(acc)); // Vector3 vdot(m_vdot(1, 1), m_vdot(2, 1), m_vdot(3, 1)); // return vdot; //}