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:
- 87:89bbbcdb667b
- Child:
- 88:be349faa1976
diff -r 456f00d52974 -r 89bbbcdb667b transferData.cpp --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/transferData.cpp Wed Oct 20 01:50:52 2021 +0000 @@ -0,0 +1,31 @@ +#include "global.hpp" + +void sendData2PC() +{ + sp.da = da; + sp.de = de; + sp.dT = dT; + sp.rpy[0] = rpy.x*180.0f/M_PI; + sp.rpy[1] = rpy.y*180.0f/M_PI; + sp.rpy[2] = rpy.z*180.0f/M_PI; + sp.vi[0] = vi.x; + sp.vi[1] = vi.y; + sp.vi[2] = vi.z; + sp.vihat[0] = ekf.vihat(1,1); + sp.vihat[1] = ekf.vihat(2,1); + sp.vihat[2] = ekf.vihat(3,1); + sp.accBias[0] = ekf.accBias.x; + sp.accBias[1] = ekf.accBias.y; + sp.accBias[2] = ekf.accBias.z; + pc.Send(0000, &(sp)); +} + +void sendTelemetry() +{ + 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); +} + +void writeSDcard() +{ + sd.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); +}