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: global.cpp

Revision:
102:1c77ff6e2a85
Parent:
101:200e98dad7f8
Child:
104:20b8caa29185
--- a/global.cpp	Sun Nov 07 05:38:17 2021 +0000
+++ b/global.cpp	Mon Nov 08 09:20:21 2021 +0000
@@ -16,7 +16,7 @@
 LPS lps(i2c);
 GPSUBX_UART gps(PF_7, PE_7);
 MagElipCalibration magCalibrator;
-
+float magres = 0.0f;
 // control
 Timer _t;
 FastPWM servoRight(PE_9);
@@ -37,9 +37,9 @@
 Matrix SensorAlignment(3,3); 
 Vector3 rpy(0.0f, 0.0f, 0.0f); // x:roll  y:pitch  z:yaw
 Vector3 acc;
-Vector3 accref(0.0f, 0.0f, 0.98f);
+Vector3 accref(0.0f, 0.0f, 9.8f);
 Vector3 mag;
-Vector3 magref(0.65f, 0.0f, 0.75f);
+Vector3 magref(0.0f, 0.0f, 0.0f);
 Vector3 gyro;
 Vector3 vi;
 Vector3 pi;
@@ -78,7 +78,7 @@
 sendPack sp;
 
 // HIL
-bool hilFlag = false;
+bool hilFlag = true;
 bool serialControlSource = false;
 bool serialParamSource = false;
 int checkParamSerial[5] = {0,0,0,0,0};