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

transferData.cpp

Committer:
NaotoMorita
Date:
2021-10-28
Revision:
92:00460f6df439
Parent:
90:96c2b0ed4b96
Child:
93:b827f78a717a

File content as of revision 92:00460f6df439:

#include "global.hpp"

void sendData2PC()
{
    sp.da = da;
    sp.de = de;
    sp.dT = dT;
    sp.rpy[0] = rpy.x*180.0f/M_PI;
    sp.rpy[1] = rpy.y*180.0f/M_PI;
    sp.rpy[2] = rpy.z*180.0f/M_PI;
    sp.vihat[0] = eskf.vihat(1,1);
    sp.vihat[1] = eskf.vihat(2,1);
    sp.vihat[2] = eskf.vihat(3,1);
    pc.Send(0000, &(sp));
}

void sendTelemetry()
{
    //twelite.printf("%f %f %f %f %f %f\r\n",da,de,dT,rpy.x*180.0f/M_PI,rpy.y*180.0f/M_PI,rpy.z*180.0f/M_PI);
    //twelite.printf("%f %f %f %f %f %f %f\r\n",1.0f/att_dt,eskf.vihat(1,1), eskf.vihat(2,1), eskf.vihat(3,1),rpy.x*180.0f/M_PI,rpy.y*180.0f/M_PI,rpy.z*180.0f/M_PI);
    //twelite.printf("%f %f %f %f %f %f\r\n",pi.x,pi.y,pi.z,vi.x,vi.y,vi.z);
    twelite.printf("%f %f %f %f %f %f %f %f %f\r\n", lsm.ax, lsm.ay, lsm.az, lsm.gx, lsm.gy, lsm.gz, lsm.mx, lsm.my, lsm.mz);
}

void writeSDcard()
{
    //sd.printf("%f %f %f %f %f %f\r\n",da,de,dT,rpy.x*180.0f/M_PI,rpy.y*180.0f/M_PI,rpy.z*180.0f/M_PI);
}