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: global.cpp

Revision:
61:c05353850017
Parent:
58:a7947322db87
Child:
62:ef10fd919f7b
--- a/global.cpp	Wed Jun 02 06:14:47 2021 +0000
+++ b/global.cpp	Thu Jun 03 11:28:13 2021 +0000
@@ -11,6 +11,7 @@
 // sensor
 MPU6050 accelgyro;
 MAG3110 mag_sensor(PB_9,PB_8);
+CalibrateMagneto magCalibrator;
 
 // io
 DigitalIn userButton(USER_BUTTON);
@@ -51,13 +52,16 @@
 float servoOut[1] = {1500.0f};
 
 float val_thmg = 0.0f;
+float sigma_thmg = 0.0f;
 float th_mg = 0.0f;
 float accnormerr = 0.0f;
+float sigma_accnorm = 0.0f;
 
 int calibrationFlag = 0;
 int pos_tail = 0; // 0:left 1:center 2:right
 int agoffset[6] = {0, 0, 0, 386, -450, 48};
-float magbias[4] = {0.0f, 0.0f, 0.0f, 50.0f};
+float magbiasMin[3] = {0.0f, 0.0f, 0.0f};
+float magbiasMax[3] = {0.0f, 0.0f, 0.0f};
 
 Vector3 rpy_align(0.0f*M_PI/180.0f, 0.0f*M_PI/180.0f, 0.0f);