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: main.cpp
- Revision:
- 33:e79457192a4b
- Parent:
- 32:c4f06cb0e1d6
- Child:
- 35:4535af88f7bf
--- a/main.cpp Mon Mar 01 09:08:09 2021 +0000 +++ b/main.cpp Tue Mar 02 04:28:08 2021 +0000 @@ -5,6 +5,7 @@ #include "LoopTicker.hpp" #include "MPU6050.h" #include <I2Cdev.h> +#include "Matrix.h" #define MPU6050_PWR_MGMT_1 0x6B #define MPU_ADDRESS 0x68 @@ -31,6 +32,10 @@ PID pitchratePID(0.01, 0.0, 0.0, PID_dt);//rad/s PID rollPID(3.0,0.0,0.0,PID_dt); PID rollratePID(0.01, 0.0, 0.0, PID_dt);//rad/s +Quaternion qhat(1,0,0,0); +Matrix Phat(4,4); +Matrix Qgyro(3,3); +Matrix Racc(3,3); Timer t; int loop_count = 0; @@ -138,6 +143,10 @@ MadgwickFilter.updateIMU(gyro_x, gyro_y, gyro_z, acc_x, acc_y, acc_z); } +void updateBetweenMeasures(){ + +} + int main() { LoopTicker PIDtick;