HAPSRG / Mbed 2 deprecated optWingforHAPS_Eigen

Eigen Revision

Dependencies:   mbed LPS25HB_I2C LSM9DS1 PIDcontroller Autopilot_Eigen LoopTicker GPSUBX_UART_Eigen SBUS_without_mainfile MedianFilter Eigen UsaPack solaESKF_Eigen Vector3 CalibrateMagneto FastPWM

autopilot.cpp@121:2523eef96b36, 2021-11-19 (annotated)

Committer:
osaka
Date:
Fri Nov 19 07:56:16 2021 +0000
Revision:
121:2523eef96b36
Parent:
110:5bf69c7afdbf
Child:
124:7d6b1b62483b
keep altitude and velocity

Who changed what in which revision?

UserRevisionLine numberNew contents of line
osaka 109:eb255fc4462b 1 #include "global.hpp"
osaka 109:eb255fc4462b 2
osaka 109:eb255fc4462b 3 void level_flight()
osaka 109:eb255fc4462b 4 {
osaka 121:2523eef96b36 5 autopilot.update_val(rpy, palt, pi, vi);
osaka 109:eb255fc4462b 6 autopilot.level();
osaka 121:2523eef96b36 7 autopilot.keep_alt();
osaka 121:2523eef96b36 8 autopilot.return_val(roll_obj, pitch_obj, dT_obj);
osaka 109:eb255fc4462b 9 }
osaka 109:eb255fc4462b 10
osaka 109:eb255fc4462b 11 void point_guide()
osaka 109:eb255fc4462b 12 {
osaka 121:2523eef96b36 13 autopilot.update_val(rpy, palt, pi, vi);
osaka 109:eb255fc4462b 14 autopilot.guide();
osaka 121:2523eef96b36 15 autopilot.keep_alt();
osaka 121:2523eef96b36 16 autopilot.return_val(roll_obj, pitch_obj, dT_obj);
osaka 109:eb255fc4462b 17 }
osaka 109:eb255fc4462b 18
osaka 109:eb255fc4462b 19 void turning()
osaka 109:eb255fc4462b 20 {
osaka 121:2523eef96b36 21 autopilot.update_val(rpy, palt, pi, vi);
osaka 109:eb255fc4462b 22 autopilot.turn();
osaka 121:2523eef96b36 23 autopilot.keep_alt();
osaka 121:2523eef96b36 24 autopilot.return_val(roll_obj, pitch_obj, dT_obj);
osaka 109:eb255fc4462b 25 }