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:
- 87:89bbbcdb667b
- Parent:
- 83:e69ab831031c
- Child:
- 88:be349faa1976
--- a/global.cpp Mon Oct 18 12:18:15 2021 +0000 +++ b/global.cpp Wed Oct 20 01:50:52 2021 +0000 @@ -7,11 +7,7 @@ I2C i2c(PB_9,PB_8); // sda, scl UsaPack pc(USBTX, USBRX, 115200); // log - tail Serial sd(PG_14,PG_9); - -// sensor -MPU6050 accelgyro; -MAG3110 mag_sensor(PB_9,PB_8); -CalibrateMagneto magCalibrator; +Serial twelite(PE_8,PE_7); // io DigitalIn userButton(USER_BUTTON); @@ -31,19 +27,14 @@ float rc[16]; int loop_count = 0; float att_dt = 0.01f; -int16_t ax, ay, az; -int16_t gx, gy, gz; -MotionSensorDataUnits mdata; // position Vector3 rpy(0.0f, 0.0f, 0.0f); // x:roll y:pitch z:yaw Vector3 acc; Vector3 accref(0.0f, 0.0f, 0.98f); -Vector3 dynacc; Vector3 mag; Vector3 magref(0.65f, 0.0f, 0.75f); Vector3 gyro; -Vector3 vb; Vector3 vi; float de = 0.0f;