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:
- 132:896ad37b534b
- Parent:
- 129:a76be8380bb2
- Child:
- 133:346ce20b3950
--- a/global.cpp Mon Nov 29 09:45:44 2021 +0000 +++ b/global.cpp Tue Nov 30 07:11:16 2021 +0000 @@ -5,7 +5,7 @@ // communication UsaPack pc(USBTX, USBRX, 115200); // log - tail -Serial sd(PG_14,PG_9); +UsaPack sd(PG_14,PG_9, 115200); Serial twelite(PD_1,PD_0); // io DigitalIn userButton(USER_BUTTON); @@ -37,7 +37,8 @@ float att_dt = 0.01f; // position Matrix SensorAlignmentAG(3,3); -Matrix SensorAlignmentMAG(3,3); +Matrix SensorAlignmentMAG(3,3); +Matrix euler(3,1); Vector3 rpy(0.0f, 0.0f, 0.0f); // x:roll y:pitch z:yaw Vector3 acc; Vector3 accref(0.0f, 0.0f, 9.8f); @@ -81,6 +82,7 @@ // UsaPack valuePack vp; sendPack sp; +logPack lp; // HIL bool hilFlag = false;