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:
- 140:53dbdb207542
- Parent:
- 139:b378528c05f2
- Child:
- 141:725321fe2949
diff -r b378528c05f2 -r 53dbdb207542 global.cpp --- a/global.cpp Mon Dec 06 08:26:16 2021 +0000 +++ b/global.cpp Mon Dec 06 11:37:55 2021 +0000 @@ -25,9 +25,9 @@ PID pitchratePID(1.0f, 0.0f, 0.0f, PID_dt);//rad/s PID rollPID(5.0f,0.0f,0.0f,PID_dt); PID rollratePID(0.05f, 0.0, 0.0, PID_dt);//rad/s -//solaESKF eskf; // ESKF class +solaESKF eskf; // ESKF class int obsCount = 0; -//Autopilot autopilot; +Autopilot autopilot; float roll_obj; float pitch_obj; float dT_obj; @@ -36,9 +36,9 @@ int loop_count = 0; float att_dt = 0.01f; // position -Matrix3f SensorAlignmentAG(3,3); -Matrix3f SensorAlignmentMAG(3,3); -Vector3f euler(3,1); +Matrix3f SensorAlignmentAG; +Matrix3f SensorAlignmentMAG; +Vector3f euler; Vector3f rpy(0.0f, 0.0f, 0.0f); // x:roll y:pitch z:yaw Vector3f acc; Vector3f accref(0.0f, 0.0f, 9.8f);