solaESKF_EIGEN
Dependencies: mbed LPS25HB_I2C LSM9DS1 PIDcontroller LoopTicker GPSUBX_UART_Eigen SBUS_without_mainfile MedianFilter Eigen UsaPack solaESKF_Eigen Vector3 CalibrateMagneto FastPWM
Diff: hil.cpp
- Revision:
- 143:53808e4e684c
- Parent:
- 141:725321fe2949
diff -r e1b8357d1ea4 -r 53808e4e684c hil.cpp --- a/hil.cpp Fri Dec 10 11:20:13 2021 +0000 +++ b/hil.cpp Fri Jun 24 05:44:34 2022 +0000 @@ -6,12 +6,12 @@ case 1: NVIC_SystemReset(); break; + case 2: + hilDataOut = vp.commandVal; + break; default : break; } - rpy_align(0) = 0.0f; - rpy_align(1) = 0.0f; - accref(2) = 1.0f; lsm.readAccel(); @@ -41,10 +41,6 @@ magraw(1) = float(vp.magData[1])/1000.0f + (lsm.my-magref(1)); magraw(2) = float(vp.magData[2])/1000.0f + (lsm.mz-magref(2)); - //magres = magCalibrator.calcResidial(magraw); - //if(magres > magresThreshold){ - // magCalibrator.updateParams(magraw,0.001f); - //}; Vector3f magmod = magraw; mag(0) = magmod(0); mag(1) = magmod(1);