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@131:45542fcc886f, 2021-11-29 (annotated)

Committer:
osaka
Date:
Mon Nov 29 13:13:34 2021 +0000
Revision:
131:45542fcc886f
Parent:
130:3a0ab2affb0f
Child:
137:240588882ae2
Autopilot modified

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 131:45542fcc886f 5 Matrix pihat = eskf.getPihat();
osaka 131:45542fcc886f 6 Matrix vihat = eskf.getVihat();
osaka 131:45542fcc886f 7 autopilot.update_val(rpy, -palt, pihat, vihat);
osaka 109:eb255fc4462b 8 autopilot.level();
osaka 121:2523eef96b36 9 autopilot.keep_alt();
osaka 121:2523eef96b36 10 autopilot.return_val(roll_obj, pitch_obj, dT_obj);
osaka 109:eb255fc4462b 11 }
osaka 109:eb255fc4462b 12
osaka 109:eb255fc4462b 13 void point_guide()
osaka 109:eb255fc4462b 14 {
osaka 131:45542fcc886f 15 Matrix pihat = eskf.getPihat();
osaka 131:45542fcc886f 16 Matrix vihat = eskf.getVihat();
osaka 131:45542fcc886f 17 autopilot.update_val(rpy, -palt, pihat, vihat);
osaka 109:eb255fc4462b 18 autopilot.guide();
osaka 121:2523eef96b36 19 autopilot.keep_alt();
osaka 121:2523eef96b36 20 autopilot.return_val(roll_obj, pitch_obj, dT_obj);
osaka 109:eb255fc4462b 21 }
osaka 109:eb255fc4462b 22
osaka 109:eb255fc4462b 23 void turning()
osaka 109:eb255fc4462b 24 {
osaka 131:45542fcc886f 25 Matrix pihat = eskf.getPihat();
osaka 131:45542fcc886f 26 Matrix vihat = eskf.getVihat();
osaka 131:45542fcc886f 27 autopilot.update_val(rpy, -palt, pihat, vihat);
osaka 109:eb255fc4462b 28 autopilot.turn();
osaka 121:2523eef96b36 29 autopilot.keep_alt();
osaka 121:2523eef96b36 30 autopilot.return_val(roll_obj, pitch_obj, dT_obj);
osaka 109:eb255fc4462b 31 }