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

setup.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:
141:725321fe2949
Eigen

Who changed what in which revision?

UserRevisionLine numberNew contents of line
cocorlow 139:b378528c05f2 1 //#include "global.hpp"
cocorlow 139:b378528c05f2 2 //using namespace std;
cocorlow 139:b378528c05f2 3 //
cocorlow 139:b378528c05f2 4 //void setup()
cocorlow 139:b378528c05f2 5 //{
cocorlow 139:b378528c05f2 6 // //sd.baud(115200);
cocorlow 139:b378528c05f2 7 // //sd.printf("\r\nFlight Start\r\n");
cocorlow 139:b378528c05f2 8 // //twelite.baud(38400);
cocorlow 139:b378528c05f2 9 // twelite.serial.printf("\r\nTelemetory Start\r\n");
cocorlow 139:b378528c05f2 10 // uint16_t reg = lsm.begin(lsm.G_SCALE_245DPS, lsm.A_SCALE_8G);
cocorlow 139:b378528c05f2 11 // //printf("%x\n", reg);
cocorlow 139:b378528c05f2 12 // if (!lps.init()){
cocorlow 139:b378528c05f2 13 // twelite.serial.printf("Failed to autodetect pressure sensor!\r\n");
cocorlow 139:b378528c05f2 14 // while (1);
cocorlow 139:b378528c05f2 15 // }
cocorlow 139:b378528c05f2 16 // lps.enableDefault();
cocorlow 139:b378528c05f2 17 // gps.Attach();
cocorlow 139:b378528c05f2 18 // wait_ms(100);
cocorlow 139:b378528c05f2 19 //
cocorlow 139:b378528c05f2 20 // SensorAlignmentAG << 1.0f << 0.0f << 0.0f
cocorlow 139:b378528c05f2 21 // << 0.0f << 1.0f << 0.0f
cocorlow 139:b378528c05f2 22 // << 0.0f << 0.0f << -1.0f;
cocorlow 139:b378528c05f2 23 // SensorAlignmentMAG << -1.0f << 0.0f << 0.0f
cocorlow 139:b378528c05f2 24 // << 0.0f << 1.0f << 0.0f
cocorlow 139:b378528c05f2 25 // << 0.0f << 0.0f << -1.0f;
cocorlow 139:b378528c05f2 26 // float magMin[3] = {-392.590332, -85.194908, -155.781174};
cocorlow 139:b378528c05f2 27 // float magMax[3] = {182.602386, 530.811523, 365.834625};
cocorlow 139:b378528c05f2 28 // magCalibrator.setExtremes(magMin,magMax);
cocorlow 139:b378528c05f2 29 //
cocorlow 139:b378528c05f2 30 // pitchPID.setSetPoint(0.0);
cocorlow 139:b378528c05f2 31 // pitchratePID.setSetPoint(0.0);
cocorlow 139:b378528c05f2 32 // rollPID.setSetPoint(0.0);
cocorlow 139:b378528c05f2 33 // rollratePID.setSetPoint(0.0);
cocorlow 139:b378528c05f2 34 // pitchPID.setBias(0.0);
cocorlow 139:b378528c05f2 35 // pitchratePID.setBias(0.0);
cocorlow 139:b378528c05f2 36 // rollPID.setBias(0.0);
cocorlow 139:b378528c05f2 37 // rollratePID.setBias(0.0);
cocorlow 139:b378528c05f2 38 // pitchPID.setOutputLimits(-1.0,1.0);
cocorlow 139:b378528c05f2 39 // pitchratePID.setOutputLimits(-1.0,1.0);
cocorlow 139:b378528c05f2 40 // rollPID.setOutputLimits(-1.0,1.0);
cocorlow 139:b378528c05f2 41 // rollratePID.setOutputLimits(-1.0,1.0);
cocorlow 139:b378528c05f2 42 // pitchPID.setInputLimits(-M_PI,M_PI);
cocorlow 139:b378528c05f2 43 // pitchratePID.setInputLimits(-M_PI,M_PI);
cocorlow 139:b378528c05f2 44 // rollPID.setInputLimits(-M_PI,M_PI);
cocorlow 139:b378528c05f2 45 // rollratePID.setInputLimits(-M_PI,M_PI);
cocorlow 139:b378528c05f2 46 //
cocorlow 139:b378528c05f2 47 // servoRight.period_us(15000.0);
cocorlow 139:b378528c05f2 48 // servoLeft.period_us(15000.0);
cocorlow 139:b378528c05f2 49 // servoThrust.period_us(15000.0);
cocorlow 139:b378528c05f2 50 // servoRight.pulsewidth_us(1500.0);
cocorlow 139:b378528c05f2 51 // servoLeft.pulsewidth_us(1500.0);
cocorlow 139:b378528c05f2 52 // servoThrust.pulsewidth_us(1100.0);
cocorlow 139:b378528c05f2 53 //
cocorlow 139:b378528c05f2 54 // autopilot.set_dest(0.0f, 50.0f);
cocorlow 139:b378528c05f2 55 // autopilot.set_turn(0.0f, 50.0f, 50.0f);
cocorlow 139:b378528c05f2 56 // autopilot.set_alt(30.0f, 10.0f);
cocorlow 139:b378528c05f2 57 // autopilot.set_climb(3.0f*M_PI/180.0f, 0);
cocorlow 139:b378528c05f2 58 //}
cocorlow 139:b378528c05f2 59 //
cocorlow 139:b378528c05f2 60 //void calibrate()
cocorlow 139:b378528c05f2 61 //{
cocorlow 139:b378528c05f2 62 // while(1)
cocorlow 139:b378528c05f2 63 // {
cocorlow 139:b378528c05f2 64 // wait(1000);
cocorlow 139:b378528c05f2 65 // }
cocorlow 139:b378528c05f2 66 //}