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: run.cpp

Revision:
116:663f5889dd17
Parent:
115:1199d19cb10f
Child:
118:962f226bdf64
--- a/run.cpp	Tue Nov 16 14:23:25 2021 +0000
+++ b/run.cpp	Wed Nov 17 01:40:40 2021 +0000
@@ -49,8 +49,8 @@
     eskf.setPhatAccBias(0.001f);
     eskf.setPhatGyroBias(0.001f);
     eskf.setPhatGravity(0.0000001f);
-    eskf.setPhatGyroBias(0.001f);
-    eskf.setPhatMagRadius(0.01f);
+    eskf.setPhatGyroBias(0.01f);
+    eskf.setPhatMagRadius(0.0001f);
     
     eskf.setQVelocity(0.0025f);
     eskf.setQAngleError(0.00025f);
@@ -80,10 +80,10 @@
     setDiag(Racc,50.0f);
     
     Matrix Rmag(3,3);
-    Rmag(1,1) = 0.001f;
-    Rmag(2,2) = 0.001f;
-    Rmag(3,3) = 0.001f;
-    //Rmag(4,4) = 0.001f;
+    Rmag(1,1) = 0.01f;
+    Rmag(2,2) = 0.01f;
+    Rmag(3,3) = 0.01f;
+    //Rmag(4,4) = 0.01f;
         _t.start();
     float tgps = _t.read();
     while(1)