HAPSRG
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@107:46e039e12182, 2021-11-12 (annotated)
- Committer:
- osaka
- Date:
- Fri Nov 12 09:04:59 2021 +0000
- Revision:
- 107:46e039e12182
added autopilot
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| osaka | 107:46e039e12182 | 1 | #include "global.hpp" |
| osaka | 107:46e039e12182 | 2 | |
| osaka | 107:46e039e12182 | 3 | void level_flight() |
| osaka | 107:46e039e12182 | 4 | { |
| osaka | 107:46e039e12182 | 5 | autopilot.update_val(rpy, palt, pi); |
| osaka | 107:46e039e12182 | 6 | autopilot.level(); |
| osaka | 107:46e039e12182 | 7 | obj = autopilot.return_val(); |
| osaka | 107:46e039e12182 | 8 | roll_obj = obj[0]; |
| osaka | 107:46e039e12182 | 9 | } |
| osaka | 107:46e039e12182 | 10 | |
| osaka | 107:46e039e12182 | 11 | void point_guide() |
| osaka | 107:46e039e12182 | 12 | { |
| osaka | 107:46e039e12182 | 13 | autopilot.update_val(rpy, palt, pi); |
| osaka | 107:46e039e12182 | 14 | autopilot.guide(); |
| osaka | 107:46e039e12182 | 15 | obj = autopilot.return_val(); |
| osaka | 107:46e039e12182 | 16 | roll_obj = obj[0]; |
| osaka | 107:46e039e12182 | 17 | |
| osaka | 107:46e039e12182 | 18 | } |
| osaka | 107:46e039e12182 | 19 | |
| osaka | 107:46e039e12182 | 20 | void turning() |
| osaka | 107:46e039e12182 | 21 | { |
| osaka | 107:46e039e12182 | 22 | autopilot.update_val(rpy, palt, pi); |
| osaka | 107:46e039e12182 | 23 | autopilot.turn(); |
| osaka | 107:46e039e12182 | 24 | obj = autopilot.return_val(); |
| osaka | 107:46e039e12182 | 25 | roll_obj = obj[0]; |
| osaka | 107:46e039e12182 | 26 | } |