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: autopilot.cpp

Revision:
121:2523eef96b36
Parent:
110:5bf69c7afdbf
Child:
124:7d6b1b62483b
--- a/autopilot.cpp	Thu Nov 18 10:10:18 2021 +0000
+++ b/autopilot.cpp	Fri Nov 19 07:56:16 2021 +0000
@@ -2,21 +2,24 @@
  
 void level_flight()
 {
-    autopilot.update_val(rpy, palt, pi);
+    autopilot.update_val(rpy, palt, pi, vi);
     autopilot.level();
-    autopilot.return_val(roll_obj, pitch_obj, alt_obj);
+    autopilot.keep_alt();
+    autopilot.return_val(roll_obj, pitch_obj, dT_obj);
 }
  
 void point_guide()
 {
-    autopilot.update_val(rpy, palt, pi);
+    autopilot.update_val(rpy, palt, pi, vi);
     autopilot.guide();
-    autopilot.return_val(roll_obj, pitch_obj, alt_obj);  
+    autopilot.keep_alt();
+    autopilot.return_val(roll_obj, pitch_obj, dT_obj);  
 }
  
 void turning()
 {
-    autopilot.update_val(rpy, palt, pi);
+    autopilot.update_val(rpy, palt, pi, vi);
     autopilot.turn();
-    autopilot.return_val(roll_obj, pitch_obj, alt_obj);
+    autopilot.keep_alt();
+    autopilot.return_val(roll_obj, pitch_obj, dT_obj);
 }
\ No newline at end of file