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
autopilot.cpp
- Committer:
- osaka
- Date:
- 2021-11-29
- Revision:
- 131:45542fcc886f
- Parent:
- 130:3a0ab2affb0f
- Child:
- 137:240588882ae2
File content as of revision 131:45542fcc886f:
#include "global.hpp" void level_flight() { Matrix pihat = eskf.getPihat(); Matrix vihat = eskf.getVihat(); autopilot.update_val(rpy, -palt, pihat, vihat); autopilot.level(); autopilot.keep_alt(); autopilot.return_val(roll_obj, pitch_obj, dT_obj); } void point_guide() { Matrix pihat = eskf.getPihat(); Matrix vihat = eskf.getVihat(); autopilot.update_val(rpy, -palt, pihat, vihat); autopilot.guide(); autopilot.keep_alt(); autopilot.return_val(roll_obj, pitch_obj, dT_obj); } void turning() { Matrix pihat = eskf.getPihat(); Matrix vihat = eskf.getVihat(); autopilot.update_val(rpy, -palt, pihat, vihat); autopilot.turn(); autopilot.keep_alt(); autopilot.return_val(roll_obj, pitch_obj, dT_obj); }