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:
- 93:b827f78a717a
- Parent:
- 92:00460f6df439
- Child:
- 94:579e875a4244
diff -r 00460f6df439 -r b827f78a717a transferData.cpp --- a/transferData.cpp Thu Oct 28 09:44:47 2021 +0000 +++ b/transferData.cpp Fri Oct 29 13:30:24 2021 +0000 @@ -8,18 +8,26 @@ 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.vihat[0] = eskf.vihat(1,1); - sp.vihat[1] = eskf.vihat(2,1); - sp.vihat[2] = eskf.vihat(3,1); + Matrix vihat = eskf.getVihat(); + sp.vihat[0] = vihat(1,1); + sp.vihat[1] = vihat(2,1); + sp.vihat[2] = vihat(3,1); pc.Send(0000, &(sp)); } void sendTelemetry() { + Matrix pihat = eskf.getPihat(); + Matrix vihat = eskf.getVihat(); + Matrix accBias = eskf.getAccBias(); + Matrix gyroBias = eskf.getGyroBias(); + Matrix gravity = eskf.getGravity(); + //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\r\n",1.0f/att_dt,eskf.vihat(1,1), eskf.vihat(2,1), eskf.vihat(3,1),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("%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 %f %f\r\n", lsm.ax, lsm.ay, lsm.az, lsm.gx, lsm.gy, lsm.gz, lsm.mx, lsm.my, lsm.mz); + //twelite.printf("%f %f %f %f %f %f\r\n", acc.x, acc.y, acc.z, gyro.x, gyro.y, gyro.z); } void writeSDcard()