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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:
- 90:96c2b0ed4b96
- Parent:
- 89:c9f64bd655d9
- Child:
- 92:00460f6df439
--- a/transferData.cpp Mon Oct 25 05:39:34 2021 +0000
+++ b/transferData.cpp Tue Oct 26 05:36:18 2021 +0000
@@ -8,22 +8,13 @@
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);
- twelite.printf("%f %f %f %f %f %f %f %f %f %f %f %f\r\n",ekf.accned(1,1),ekf.accned(2,1),ekf.accned(3,1),ekf.vihat(1,1), ekf.vihat(2,1), ekf.vihat(3,1),ekf.errState(10,1),ekf.errState(11,1),ekf.errState(12,1),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\r\n",eskf.pihat(1,1),eskf.pihat(2,1),eskf.pihat(3,1),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,eskf.gravity(1,1),eskf.gravity(2,1),eskf.gravity(3,1));
//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);
}