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

gps.cpp@98:bdaa6bbfb1d9, 2021-11-03 (annotated)

Committer:
NaotoMorita
Date:
Wed Nov 03 14:59:26 2021 +0000
Revision:
98:bdaa6bbfb1d9
Parent:
97:2b3242c2dd85
Child:
99:98b892ca70ec
slightly modified

Who changed what in which revision?

UserRevisionLine numberNew contents of line
osaka 96:3645f8f9bdd3 1 #include "global.hpp"
osaka 96:3645f8f9bdd3 2
osaka 96:3645f8f9bdd3 3 void getGPSval()
osaka 96:3645f8f9bdd3 4 {
osaka 96:3645f8f9bdd3 5 gps.Update();
osaka 97:2b3242c2dd85 6 if (gps.iTOW_VELNED != itow_velned)
osaka 97:2b3242c2dd85 7 {
osaka 97:2b3242c2dd85 8 itow_velned = gps.iTOW_VELNED;
osaka 97:2b3242c2dd85 9 vi.x = gps.VelocityNED.x;
osaka 97:2b3242c2dd85 10 vi.y = gps.VelocityNED.y;
osaka 97:2b3242c2dd85 11 vi.z = gps.VelocityNED.z;
osaka 97:2b3242c2dd85 12 }
osaka 97:2b3242c2dd85 13 if (gps.iTOW_POSLLH != itow_posllh)
osaka 97:2b3242c2dd85 14 {
osaka 97:2b3242c2dd85 15 itow_posllh = gps.iTOW_POSLLH;
osaka 97:2b3242c2dd85 16 change_refpos();
osaka 97:2b3242c2dd85 17 gps.Calculate();
osaka 97:2b3242c2dd85 18 pi.x = gps.PositionNED.x;
osaka 97:2b3242c2dd85 19 pi.y = gps.PositionNED.y;
osaka 97:2b3242c2dd85 20 pi.z = gps.PositionNED.z;
osaka 97:2b3242c2dd85 21 }
osaka 97:2b3242c2dd85 22 }
osaka 97:2b3242c2dd85 23
osaka 97:2b3242c2dd85 24 //20m以上の変位で基準位置更新
osaka 97:2b3242c2dd85 25 void change_refpos()
osaka 97:2b3242c2dd85 26 {
osaka 97:2b3242c2dd85 27 float x_dist = gps.PositionNED.x - pi.x;
osaka 97:2b3242c2dd85 28 float y_dist = gps.PositionNED.y - pi.y;
osaka 97:2b3242c2dd85 29 float z_dist = gps.PositionNED.z - pi.z;
NaotoMorita 98:bdaa6bbfb1d9 30 float dist2 = x_dist*x_dist + y_dist*y_dist + z_dist*z_dist;
NaotoMorita 98:bdaa6bbfb1d9 31 if (dist2 >= 400.0f)
osaka 97:2b3242c2dd85 32 {
osaka 97:2b3242c2dd85 33 gps.CalculateUnit();
osaka 97:2b3242c2dd85 34 eskf.setPihat(0.0f, 0.0f, 0.0f);
NaotoMorita 98:bdaa6bbfb1d9 35 palt0 = palt;
osaka 97:2b3242c2dd85 36 }
osaka 97:2b3242c2dd85 37 else
osaka 97:2b3242c2dd85 38 {
osaka 97:2b3242c2dd85 39 //何もしない
osaka 97:2b3242c2dd85 40 }
osaka 96:3645f8f9bdd3 41 }