HAPSRG / Mbed 2 deprecated optWingforHAPS_Eigen

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:
99:98b892ca70ec
Parent:
98:bdaa6bbfb1d9
Child:
101:200e98dad7f8
--- a/imu.cpp	Wed Nov 03 14:59:26 2021 +0000
+++ b/imu.cpp	Thu Nov 04 09:42:19 2021 +0000
@@ -21,7 +21,7 @@
         gyro.y = gyroAlign(2,1);
         gyro.z = gyroAlign(3,1);
         
-        palt = lps.pressureToAltitudeMeters(lps.readPressureMillibars());
+        palt = -(lps.pressureToAltitudeMeters(lps.readPressureMillibars())-palt0);
         
         //printf("%f %f %f %f %f %f %f %f %f\n", lsm.ax, lsm.ay, lsm.az, lsm.gx, lsm.gy, lsm.gz, lsm.mx, lsm.my, lsm.mz);
         //printf("%f %f %f\n", lsm.gx, lsm.gy, lsm.gz);