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
Diff: transferData.cpp
- Revision:
- 92:00460f6df439
- Parent:
- 90:96c2b0ed4b96
- Child:
- 93:b827f78a717a
--- a/transferData.cpp Tue Oct 26 05:37:25 2021 +0000 +++ b/transferData.cpp Thu Oct 28 09:44:47 2021 +0000 @@ -8,14 +8,18 @@ sp.rpy[0] = rpy.x*180.0f/M_PI; sp.rpy[1] = rpy.y*180.0f/M_PI; sp.rpy[2] = rpy.z*180.0f/M_PI; + sp.vihat[0] = eskf.vihat(1,1); + sp.vihat[1] = eskf.vihat(2,1); + sp.vihat[2] = eskf.vihat(3,1); pc.Send(0000, &(sp)); } void sendTelemetry() { //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); - twelite.printf("%f %f %f %f %f %f %f %f %f %f %f %f\r\n",eskf.pihat(1,1),eskf.pihat(2,1),eskf.pihat(3,1),eskf.vihat(1,1), eskf.vihat(2,1), eskf.vihat(3,1),rpy.x*180.0f/M_PI,rpy.y*180.0f/M_PI,rpy.z*180.0f/M_PI,eskf.gravity(1,1),eskf.gravity(2,1),eskf.gravity(3,1)); - //twelite.printf("%f %f %f %f %f %f %f %f %f\r\n", lsm.ax, lsm.ay, lsm.az, lsm.gx, lsm.gy, lsm.gz, lsm.mx, lsm.my, lsm.mz); + //twelite.printf("%f %f %f %f %f %f %f\r\n",1.0f/att_dt,eskf.vihat(1,1), eskf.vihat(2,1), eskf.vihat(3,1),rpy.x*180.0f/M_PI,rpy.y*180.0f/M_PI,rpy.z*180.0f/M_PI); + //twelite.printf("%f %f %f %f %f %f\r\n",pi.x,pi.y,pi.z,vi.x,vi.y,vi.z); + twelite.printf("%f %f %f %f %f %f %f %f %f\r\n", lsm.ax, lsm.ay, lsm.az, lsm.gx, lsm.gy, lsm.gz, lsm.mx, lsm.my, lsm.mz); } void writeSDcard()