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?
User | Revision | Line number | New 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 |