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: imu.cpp
- Revision:
- 114:88abd741f44d
- Parent:
- 113:3e47d9881529
--- a/imu.cpp Tue Nov 16 13:57:32 2021 +0000 +++ b/imu.cpp Tue Nov 16 14:17:57 2021 +0000 @@ -23,11 +23,11 @@ Matrix magraw(3,1); magraw << lsm.mx <<lsm.my << lsm.mz; - magres = magCalibrator.calcResidial(magraw); - if(magres > magresThreshold){ - magCalibrator.updateParams(magraw,0.1f); - }; - Matrix magmod = SensorAlignmentMAG*magCalibrator.outCalibratedMag(magraw); + //magres = magCalibrator.calcResidial(magraw); + //if(magres > magresThreshold){ + // magCalibrator.updateParams(magraw,0.1f); + //}; + Matrix magmod = SensorAlignmentMAG*(magraw); mag.x = magmod(1,1); mag.y = magmod(2,1); mag.z = magmod(3,1);