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

gps.cpp@106:2d854e92cebb, 2021-11-12 (annotated)

Committer:
NaotoMorita
Date:
Fri Nov 12 09:03:41 2021 +0000
Revision:
106:2d854e92cebb
Parent:
100:7589b663d462
Child:
139:b378528c05f2
mag mod

Who changed what in which revision?

UserRevisionLine numberNew contents of line
osaka 96:3645f8f9bdd3 1 #include "global.hpp"
osaka 96:3645f8f9bdd3 2
osaka 96:3645f8f9bdd3 3 void getGPSval()
osaka 96:3645f8f9bdd3 4 {
NaotoMorita 100:7589b663d462 5 gpsUpdateFlag = false;
osaka 96:3645f8f9bdd3 6 gps.Update();
NaotoMorita 106:2d854e92cebb 7 if (gps.iTOW_STATUS != itow_status){
NaotoMorita 106:2d854e92cebb 8 itow_status = gps.iTOW_STATUS;
NaotoMorita 106:2d854e92cebb 9 if(gps.gpsFix == 0x02 || gps.gpsFix == 0x03){
NaotoMorita 106:2d854e92cebb 10 vi.x = gps.VelocityNED.x;
NaotoMorita 106:2d854e92cebb 11 vi.y = gps.VelocityNED.y;
NaotoMorita 106:2d854e92cebb 12 vi.z = gps.VelocityNED.z;
NaotoMorita 106:2d854e92cebb 13 if(gpsLlh0Fixed == false){
NaotoMorita 106:2d854e92cebb 14 gps.CalculateUnit();
NaotoMorita 106:2d854e92cebb 15 gpsLlh0Fixed = true;
NaotoMorita 106:2d854e92cebb 16 }else{
NaotoMorita 106:2d854e92cebb 17 gps.Calculate();
NaotoMorita 106:2d854e92cebb 18 }
NaotoMorita 106:2d854e92cebb 19 pi.x = gps.PositionNED.x;
NaotoMorita 106:2d854e92cebb 20 pi.y = gps.PositionNED.y;
NaotoMorita 106:2d854e92cebb 21 pi.z = gps.PositionNED.z;
NaotoMorita 106:2d854e92cebb 22 gpsUpdateFlag = true;
NaotoMorita 106:2d854e92cebb 23 }
osaka 97:2b3242c2dd85 24 }
osaka 97:2b3242c2dd85 25 }
osaka 97:2b3242c2dd85 26