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:
67:41fcdfb7cc5a
Parent:
63:9c4973a98600
Child:
68:b9f6938fab9d
--- a/global.cpp	Tue Jun 22 02:19:14 2021 +0000
+++ b/global.cpp	Tue Jun 22 02:45:43 2021 +0000
@@ -1,10 +1,11 @@
 #include "global.hpp"
 
+
 // var
 
 // communication
 I2C i2c(PB_9,PB_8);  // sda, scl
-UsaPack tail(USBTX, USBRX, 57600); // log - tail
+UsaPack pc(USBTX, USBRX, 57600); // log - tail
 
 // sensor
 MPU6050 accelgyro;
@@ -19,7 +20,7 @@
 FastPWM rudServo(PE_13);
 PID pitchPID(5.0, 0,0, PID_dt); // rad
 PID pitchratePID(0.5, 0.0, 0.0, PID_dt); // rad/s
-HAPS_EKF ekf; // EKF class
+errStateEKF ekf; // EKF class
 
 int loop_count = 0;
 float att_dt = 0.01f;
@@ -54,4 +55,4 @@
 float mapfloat(float x, float in_min, float in_max, float out_min, float out_max)
 {
     return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
-}
\ No newline at end of file
+}