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
gps.cpp
- Committer:
- NaotoMorita
- Date:
- 2021-11-12
- Revision:
- 106:2d854e92cebb
- Parent:
- 100:7589b663d462
- Child:
- 139:b378528c05f2
File content as of revision 106:2d854e92cebb:
#include "global.hpp" void getGPSval() { gpsUpdateFlag = false; gps.Update(); if (gps.iTOW_STATUS != itow_status){ itow_status = gps.iTOW_STATUS; if(gps.gpsFix == 0x02 || gps.gpsFix == 0x03){ vi.x = gps.VelocityNED.x; vi.y = gps.VelocityNED.y; vi.z = gps.VelocityNED.z; if(gpsLlh0Fixed == false){ gps.CalculateUnit(); gpsLlh0Fixed = true; }else{ gps.Calculate(); } pi.x = gps.PositionNED.x; pi.y = gps.PositionNED.y; pi.z = gps.PositionNED.z; gpsUpdateFlag = true; } } }