solaESKF_EIGEN
Dependencies: mbed LPS25HB_I2C LSM9DS1 PIDcontroller LoopTicker GPSUBX_UART_Eigen SBUS_without_mainfile MedianFilter Eigen UsaPack solaESKF_Eigen Vector3 CalibrateMagneto FastPWM
Diff: transferData.cpp
- Revision:
- 113:3e47d9881529
- Parent:
- 111:0fae4fbe2a80
- Child:
- 114:88abd741f44d
- Child:
- 119:a21e283730d1
diff -r 6a33ea9f6fed -r 3e47d9881529 transferData.cpp --- a/transferData.cpp Tue Nov 16 01:21:01 2021 +0000 +++ b/transferData.cpp Tue Nov 16 13:57:32 2021 +0000 @@ -22,12 +22,10 @@ Matrix accBias = eskf.getAccBias(); Matrix gyroBias = eskf.getGyroBias(); Matrix gravity = eskf.getGravity(); - Matrix magBias = eskf.getMagBias(); - float magRadius = eskf.getMagRadius(); //twelite.printf("%f %f %f %f %f %f\r\n",da,de,dT,rpy.x*180.0f/M_PI,rpy.y*180.0f/M_PI,rpy.z*180.0f/M_PI); //twelite.printf("%f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f\r\n",1.0f/att_dt,rpy.x*180.0f/M_PI,rpy.y*180.0f/M_PI,rpy.z*180.0f/M_PI, pihat(1,1),pihat(2,1),pihat(3,1),vihat(1,1),vihat(2,1),vihat(3,1),accBias(1,1),accBias(2,1),accBias(3,1),gyroBias(1,1),gyroBias(2,1),gyroBias(3,1),gravity(1,1),gravity(2,1),gravity(3,1)); - twelite.printf("%d %f %f %f %f %f %f %f %f %f %f %f\r\n",gps.gpsFix ,1.0f/att_dt,rpy.x*180.0f/M_PI,rpy.y*180.0f/M_PI,rpy.z*180.0f/M_PI,mag.x,mag.y,mag.z,magBias(1,1),magBias(2,1),magBias(3,1),magRadius); + twelite.printf("%d %f %f %f %f %f %f %f %f\r\n",gps.gpsFix ,1.0f/att_dt,rpy.x*180.0f/M_PI,rpy.y*180.0f/M_PI,rpy.z*180.0f/M_PI,mag.x,mag.y,mag.z,magres); //twelite.printf("%f %f %f %f %f %f\r\n",accBias(1,1),accBias(2,1),accBias(3,1),gyroBias(1,1),gyroBias(2,1),gyroBias(3,1)); //twelite.printf("%f %f %f %f %f %f\r\n",pi.x,pi.y,pi.z,vi.x,vi.y,vi.z); //twelite.printf("%f %f %f %f %f %f %f \r\n", magGamma(7,1), magGamma(8,1), magGamma(9,1), mag.x, mag.y, mag.z,magres);