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@139:b378528c05f2, 2021-12-06 (annotated)

Committer:
cocorlow
Date:
Mon Dec 06 08:26:16 2021 +0000
Revision:
139:b378528c05f2
Parent:
137:240588882ae2
Child:
140:53dbdb207542
Eigen

Who changed what in which revision?

UserRevisionLine numberNew contents of line
cocorlow 139:b378528c05f2 1 //#include "global.hpp"
cocorlow 139:b378528c05f2 2 //
cocorlow 139:b378528c05f2 3 //void level_flight()
cocorlow 139:b378528c05f2 4 //{
cocorlow 139:b378528c05f2 5 // Vector3 vdot = calc_vdot();
cocorlow 139:b378528c05f2 6 // Matrix pihat = eskf.getPihat();
cocorlow 139:b378528c05f2 7 // Matrix vihat = eskf.getVihat();
cocorlow 139:b378528c05f2 8 // autopilot.update_val(rpy, -palt, pihat, vihat, vdot);
cocorlow 139:b378528c05f2 9 // autopilot.level();
cocorlow 139:b378528c05f2 10 // autopilot.keep_alt();
cocorlow 139:b378528c05f2 11 // autopilot.return_val(roll_obj, pitch_obj, dT_obj);
cocorlow 139:b378528c05f2 12 //}
cocorlow 139:b378528c05f2 13 //
cocorlow 139:b378528c05f2 14 //void point_guide()
cocorlow 139:b378528c05f2 15 //{
cocorlow 139:b378528c05f2 16 // Vector3 vdot = calc_vdot();
cocorlow 139:b378528c05f2 17 // Matrix pihat = eskf.getPihat();
cocorlow 139:b378528c05f2 18 // Matrix vihat = eskf.getVihat();
cocorlow 139:b378528c05f2 19 // autopilot.update_val(rpy, -palt, pihat, vihat, vdot);
cocorlow 139:b378528c05f2 20 // autopilot.guide();
cocorlow 139:b378528c05f2 21 // autopilot.keep_alt();
cocorlow 139:b378528c05f2 22 // autopilot.return_val(roll_obj, pitch_obj, dT_obj);
cocorlow 139:b378528c05f2 23 //}
cocorlow 139:b378528c05f2 24 //
cocorlow 139:b378528c05f2 25 //void turning()
cocorlow 139:b378528c05f2 26 //{
cocorlow 139:b378528c05f2 27 // Vector3 vdot = calc_vdot();
cocorlow 139:b378528c05f2 28 // Matrix pihat = eskf.getPihat();
cocorlow 139:b378528c05f2 29 // Matrix vihat = eskf.getVihat();
cocorlow 139:b378528c05f2 30 // autopilot.update_val(rpy, -palt, pihat, vihat, vdot);
cocorlow 139:b378528c05f2 31 // autopilot.turn();
cocorlow 139:b378528c05f2 32 // autopilot.keep_alt();
cocorlow 139:b378528c05f2 33 // autopilot.return_val(roll_obj, pitch_obj, dT_obj);
cocorlow 139:b378528c05f2 34 //}
cocorlow 139:b378528c05f2 35 //
cocorlow 139:b378528c05f2 36 //void climb()
cocorlow 139:b378528c05f2 37 //{
cocorlow 139:b378528c05f2 38 // Vector3 vdot = calc_vdot();
cocorlow 139:b378528c05f2 39 // Matrix pihat = eskf.getPihat();
cocorlow 139:b378528c05f2 40 // Matrix vihat = eskf.getVihat();
cocorlow 139:b378528c05f2 41 // autopilot.update_val(rpy, -palt, pihat, vihat, vdot);
cocorlow 139:b378528c05f2 42 // autopilot.level();
cocorlow 139:b378528c05f2 43 // autopilot.climb();
cocorlow 139:b378528c05f2 44 // autopilot.return_val(roll_obj, pitch_obj, dT_obj);
cocorlow 139:b378528c05f2 45 //}
cocorlow 139:b378528c05f2 46 //
cocorlow 139:b378528c05f2 47 //Vector3 calc_vdot()
cocorlow 139:b378528c05f2 48 //{
cocorlow 139:b378528c05f2 49 // Matrix m_vdot = eskf.calcDynAcc(MatrixMath::Vector2mat(acc));
cocorlow 139:b378528c05f2 50 // Vector3 vdot(m_vdot(1, 1), m_vdot(2, 1), m_vdot(3, 1));
cocorlow 139:b378528c05f2 51 // return vdot;
cocorlow 139:b378528c05f2 52 //}