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: gps.cpp
- Revision:
- 99:98b892ca70ec
- Parent:
- 98:bdaa6bbfb1d9
- Child:
- 100:7589b663d462
--- a/gps.cpp Wed Nov 03 14:59:26 2021 +0000 +++ b/gps.cpp Thu Nov 04 09:42:19 2021 +0000 @@ -13,8 +13,8 @@ if (gps.iTOW_POSLLH != itow_posllh) { itow_posllh = gps.iTOW_POSLLH; + gps.Calculate(); change_refpos(); - gps.Calculate(); pi.x = gps.PositionNED.x; pi.y = gps.PositionNED.y; pi.z = gps.PositionNED.z; @@ -32,7 +32,8 @@ { gps.CalculateUnit(); eskf.setPihat(0.0f, 0.0f, 0.0f); - palt0 = palt; + //palt0 = palt; + } else {