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:
143:53808e4e684c
Parent:
140:53dbdb207542
--- a/autopilot.cpp	Fri Dec 10 11:20:13 2021 +0000
+++ b/autopilot.cpp	Fri Jun 24 05:44:34 2022 +0000
@@ -5,7 +5,7 @@
     Vector3f vdot = calc_vdot();
     Vector3f pihat = eskf.getPihat();
     Vector3f vihat = eskf.getVihat();
-    autopilot.update_val(rpy, -palt, pihat, vihat, vdot);
+    autopilot.update_val(euler, -palt, pihat, vihat, vdot);
     autopilot.level();
     autopilot.keep_alt();
     autopilot.return_val(roll_obj, pitch_obj, dT_obj);
@@ -16,7 +16,7 @@
     Vector3f vdot = calc_vdot();
     Vector3f pihat = eskf.getPihat();
     Vector3f vihat = eskf.getVihat();
-    autopilot.update_val(rpy, -palt, pihat, vihat, vdot);
+    autopilot.update_val(euler, -palt, pihat, vihat, vdot);
     autopilot.guide();
     autopilot.keep_alt();
     autopilot.return_val(roll_obj, pitch_obj, dT_obj);  
@@ -27,7 +27,7 @@
     Vector3f vdot = calc_vdot();
     Vector3f pihat = eskf.getPihat();
     Vector3f vihat = eskf.getVihat();
-    autopilot.update_val(rpy, -palt, pihat, vihat, vdot);
+    autopilot.update_val(euler, -palt, pihat, vihat, vdot);
     autopilot.turn();
     autopilot.keep_alt();
     autopilot.return_val(roll_obj, pitch_obj, dT_obj);
@@ -38,7 +38,7 @@
     Vector3f vdot = calc_vdot();
     Vector3f pihat = eskf.getPihat();
     Vector3f vihat = eskf.getVihat();
-    autopilot.update_val(rpy, -palt, pihat, vihat, vdot);
+    autopilot.update_val(euler, -palt, pihat, vihat, vdot);
     autopilot.level();
     autopilot.climb();
     autopilot.return_val(roll_obj, pitch_obj, dT_obj);