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: servo.cpp

Revision:
61:c05353850017
Parent:
57:923e3df16159
Child:
62:ef10fd919f7b
--- a/servo.cpp	Wed Jun 02 06:14:47 2021 +0000
+++ b/servo.cpp	Thu Jun 03 11:28:13 2021 +0000
@@ -71,9 +71,9 @@
     //int ang_th  = th_mg < 0.01877522;
     //int dyn_th = dynaccnorm < 0.00514146;
     //int norm_th =  accnormerr< 0.00477393;
-    int ang_th  = th_mg < 0.01877522/5.0;
-    int dyn_th = dynacc.Norm() < 0.00514146/5.0;
-    int norm_th =  accnormerr< 0.00477393/5.0;
+    int ang_th  = th_mg < sigma_thmg/200.0;
+    int dyn_th = dynacc.Norm() < sigma_accnorm/50.0;
+    int norm_th =  accnormerr< sigma_accnorm/50.0;
     if(dyn_th+ang_th+norm_th>0)
     {
     //if(dyn_th+ang_th+norm_th>-1){