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: setup.cpp
- Revision:
- 122:68efdee114fa
- Parent:
- 119:a21e283730d1
--- a/setup.cpp Thu Nov 18 10:10:18 2021 +0000 +++ b/setup.cpp Fri Nov 19 05:44:23 2021 +0000 @@ -24,8 +24,15 @@ SensorAlignmentMAG << -1.0f << 0.0f << 0.0f << 0.0f << 1.0f << 0.0f << 0.0f << 0.0f << -1.0f; + float magMin[3] = {-392.590332, -85.194908, -155.781174}; float magMax[3] = {182.602386, 530.811523, 365.834625}; + if(hilFlag==true){ + for(int i = 0;i<3;i++){ + magMin[i] = -1000.0f; + magMax[i] = 1000.0f; + } + } magCalibrator.setExtremes(magMin,magMax); pitchPID.setSetPoint(0.0);