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: hil.cpp
- Revision:
- 84:ff48e01ea76b
- Parent:
- 83:e69ab831031c
- Child:
- 90:96c2b0ed4b96
--- a/hil.cpp Wed Sep 22 09:30:45 2021 +0000 +++ b/hil.cpp Wed Sep 29 04:50:51 2021 +0000 @@ -27,13 +27,13 @@ gyro.y = float(vp.gyroData[1]) / GYRO_SSF * 0.0174533f + sigma_gyro*randn(); gyro.z = float(vp.gyroData[2]) / GYRO_SSF * 0.0174533f + sigma_gyro*randn(); gyro = gyroMedian.Process(gyro); - //mag.x = -float(vp.magData[0])/1000.0f + sigma_mag*randn(); - //mag.y = -float(vp.magData[1])/1000.0f + sigma_mag*randn(); - //mag.z = -float(vp.magData[2])/1000.0f + sigma_mag*randn(); - //mag = magMedian.Process(mag); - //vi.x = float(vp.viData[0])/1000.0f + sigma_vi*randn(); - //vi.y = float(vp.viData[1])/1000.0f + sigma_vi*randn(); - //vi.z = float(vp.viData[2])/1000.0f + sigma_vi*randn(); + mag.x = -float(vp.magData[0])/1000.0f + sigma_mag*randn(); + mag.y = -float(vp.magData[1])/1000.0f + sigma_mag*randn(); + mag.z = -float(vp.magData[2])/1000.0f + sigma_mag*randn(); + mag = magMedian.Process(mag); + vi.x = float(vp.viData[0])/1000.0f + sigma_vi*randn(); + vi.y = float(vp.viData[1])/1000.0f + sigma_vi*randn(); + vi.z = float(vp.viData[2])/1000.0f + sigma_vi*randn(); if(acc.Norm()<0.01f){ acc.x = 0.0f;