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

Diff: imu.cpp

Revision:
111:0fae4fbe2a80
Parent:
104:20b8caa29185
Child:
113:3e47d9881529
--- a/imu.cpp	Fri Nov 12 12:56:48 2021 +0000
+++ b/imu.cpp	Mon Nov 15 13:42:01 2021 +0000
@@ -23,11 +23,11 @@
         
         Matrix magraw(3,1);
         magraw << lsm.mx <<lsm.my << lsm.mz;
-        magres = magCalibrator.calcResidial(magraw);
-        if(magres > magresThreshold){
-            magCalibrator.updateParams(magraw,0.1f);
-        };
-        Matrix magmod = SensorAlignment*magCalibrator.outCalibratedMag(magraw);
+        //magres = magCalibrator.calcResidial(magraw);
+        //if(magres > magresThreshold){
+        //    magCalibrator.updateParams(magraw,0.1f);
+        //};
+        Matrix magmod = SensorAlignment*magraw;
         mag.x = magmod(1,1);
         mag.y = magmod(2,1);
         mag.z = magmod(3,1);