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

transferData.cpp@87:89bbbcdb667b, 2021-10-20 (annotated)

Committer:
osaka
Date:
Wed Oct 20 01:50:52 2021 +0000
Revision:
87:89bbbcdb667b
Child:
88:be349faa1976
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Who changed what in which revision?

UserRevisionLine numberNew contents of line
osaka 87:89bbbcdb667b 1 #include "global.hpp"
osaka 87:89bbbcdb667b 2
osaka 87:89bbbcdb667b 3 void sendData2PC()
osaka 87:89bbbcdb667b 4 {
osaka 87:89bbbcdb667b 5 sp.da = da;
osaka 87:89bbbcdb667b 6 sp.de = de;
osaka 87:89bbbcdb667b 7 sp.dT = dT;
osaka 87:89bbbcdb667b 8 sp.rpy[0] = rpy.x*180.0f/M_PI;
osaka 87:89bbbcdb667b 9 sp.rpy[1] = rpy.y*180.0f/M_PI;
osaka 87:89bbbcdb667b 10 sp.rpy[2] = rpy.z*180.0f/M_PI;
osaka 87:89bbbcdb667b 11 sp.vi[0] = vi.x;
osaka 87:89bbbcdb667b 12 sp.vi[1] = vi.y;
osaka 87:89bbbcdb667b 13 sp.vi[2] = vi.z;
osaka 87:89bbbcdb667b 14 sp.vihat[0] = ekf.vihat(1,1);
osaka 87:89bbbcdb667b 15 sp.vihat[1] = ekf.vihat(2,1);
osaka 87:89bbbcdb667b 16 sp.vihat[2] = ekf.vihat(3,1);
osaka 87:89bbbcdb667b 17 sp.accBias[0] = ekf.accBias.x;
osaka 87:89bbbcdb667b 18 sp.accBias[1] = ekf.accBias.y;
osaka 87:89bbbcdb667b 19 sp.accBias[2] = ekf.accBias.z;
osaka 87:89bbbcdb667b 20 pc.Send(0000, &(sp));
osaka 87:89bbbcdb667b 21 }
osaka 87:89bbbcdb667b 22
osaka 87:89bbbcdb667b 23 void sendTelemetry()
osaka 87:89bbbcdb667b 24 {
osaka 87:89bbbcdb667b 25 twelite.printf("%f %f %f %f %f %f\r\n",da,de,dT,rpy.x*180.0f/M_PI,rpy.y*180.0f/M_PI,rpy.z*180.0f/M_PI);
osaka 87:89bbbcdb667b 26 }
osaka 87:89bbbcdb667b 27
osaka 87:89bbbcdb667b 28 void writeSDcard()
osaka 87:89bbbcdb667b 29 {
osaka 87:89bbbcdb667b 30 sd.printf("%f %f %f %f %f %f\r\n",da,de,dT,rpy.x*180.0f/M_PI,rpy.y*180.0f/M_PI,rpy.z*180.0f/M_PI);
osaka 87:89bbbcdb667b 31 }