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:
- 2022-06-24
- Revision:
- 143:53808e4e684c
- Parent:
- 141:725321fe2949
File content as of revision 143:53808e4e684c:
#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){ if(gpsLlh0Fixed == false){ gps.CalculateUnit(); gps.Calculate(pi(0),pi(1),pi(2),vi(0),vi(1),vi(2)); gpsUpdateFlag = true; gpsLlh0Fixed = true; }else{ gps.Calculate(pi(0),pi(1),pi(2),vi(0),vi(1),vi(2)); gpsUpdateFlag = true; } } } }