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:
- 68:b9f6938fab9d
- Parent:
- 67:41fcdfb7cc5a
- Child:
- 70:99f974d8960e
--- a/global.cpp Tue Jun 22 02:45:43 2021 +0000 +++ b/global.cpp Mon Jun 28 01:40:26 2021 +0000 @@ -33,7 +33,8 @@ // 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 accref(0.0f, 0.0f, 0.98f); +Vector3 dynacc; Vector3 mag; Vector3 magref(0.65f, 0.0f, 0.75f); Vector3 gyro; @@ -42,11 +43,11 @@ float servoOut[2] = {1500.0f,1500.0f}; int calibrationFlag = 0; -int agoffset[6] = {0, 0, 0, 386, -450, 48}; -float magbiasMin[3] = {0.0f, 0.0f, 0.0f}; -float magbiasMax[3] = {0.0f, 0.0f, 0.0f}; +int agoffset[6] = {0, 0, 0, -121, -12, 24}; +float magbiasMin[3] = {-45.639572, -0.059049, -208.120300}; +float magbiasMax[3] = {28.209938, 65.421822, -131.388748}; -Vector3 rpy_align(0.0f*M_PI/180.0f, 0.0f*M_PI/180.0f, 0.0f*M_PI/180.0f); +Vector3 rpy_align(-1.192014f*M_PI/180.0f, -2.639991f*M_PI/180.0f, 0.0f*M_PI/180.0f); // UsaPack