solaESKF_EIGEN
Dependencies: mbed LPS25HB_I2C LSM9DS1 PIDcontroller LoopTicker GPSUBX_UART_Eigen SBUS_without_mainfile MedianFilter Eigen UsaPack solaESKF_Eigen Vector3 CalibrateMagneto FastPWM
Diff: global.cpp
- Revision:
- 133:346ce20b3950
- Parent:
- 131:45542fcc886f
- Parent:
- 132:896ad37b534b
- Child:
- 134:d57c6b2a706b
diff -r 45542fcc886f -r 346ce20b3950 global.cpp --- a/global.cpp Mon Nov 29 13:13:34 2021 +0000 +++ b/global.cpp Tue Nov 30 07:58:46 2021 +0000 @@ -5,8 +5,8 @@ // communication UsaPack pc(USBTX, USBRX, 115200); // log - tail -Serial sd(PG_14,PG_9); -Serial twelite(PD_1,PD_0); +UsaPack sd(PG_14,PG_9, 115200); +UsaPack twelite(PD_1,PD_0); // io DigitalIn userButton(USER_BUTTON); SBUS sbus(PD_5, PD_6); @@ -37,7 +37,8 @@ float att_dt = 0.01f; // position Matrix SensorAlignmentAG(3,3); -Matrix SensorAlignmentMAG(3,3); +Matrix SensorAlignmentMAG(3,3); +Matrix euler(3,1); Vector3 rpy(0.0f, 0.0f, 0.0f); // x:roll y:pitch z:yaw Vector3 acc; Vector3 accref(0.0f, 0.0f, 9.8f); @@ -81,6 +82,7 @@ // UsaPack valuePack vp; sendPack sp; +logPack lp; // HIL bool hilFlag = true;