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

autopilot.cpp

Committer:
cocorlow
Date:
2021-12-06
Revision:
139:b378528c05f2
Parent:
137:240588882ae2
Child:
140:53dbdb207542

File content as of revision 139:b378528c05f2:

//#include "global.hpp"
// 
//void level_flight()
//{
//    Vector3 vdot = calc_vdot();
//    Matrix pihat = eskf.getPihat();
//    Matrix vihat = eskf.getVihat();
//    autopilot.update_val(rpy, -palt, pihat, vihat, vdot);
//    autopilot.level();
//    autopilot.keep_alt();
//    autopilot.return_val(roll_obj, pitch_obj, dT_obj);
//}
// 
//void point_guide()
//{
//    Vector3 vdot = calc_vdot();
//    Matrix pihat = eskf.getPihat();
//    Matrix vihat = eskf.getVihat();
//    autopilot.update_val(rpy, -palt, pihat, vihat, vdot);
//    autopilot.guide();
//    autopilot.keep_alt();
//    autopilot.return_val(roll_obj, pitch_obj, dT_obj);  
//}
// 
//void turning()
//{
//    Vector3 vdot = calc_vdot();
//    Matrix pihat = eskf.getPihat();
//    Matrix vihat = eskf.getVihat();
//    autopilot.update_val(rpy, -palt, pihat, vihat, vdot);
//    autopilot.turn();
//    autopilot.keep_alt();
//    autopilot.return_val(roll_obj, pitch_obj, dT_obj);
//}
//
//void climb()
//{
//    Vector3 vdot = calc_vdot();
//    Matrix pihat = eskf.getPihat();
//    Matrix vihat = eskf.getVihat();
//    autopilot.update_val(rpy, -palt, pihat, vihat, vdot);
//    autopilot.level();
//    autopilot.climb();
//    autopilot.return_val(roll_obj, pitch_obj, dT_obj);
//}
//
//Vector3 calc_vdot()
//{
//    Matrix m_vdot = eskf.calcDynAcc(MatrixMath::Vector2mat(acc));
//    Vector3 vdot(m_vdot(1, 1), m_vdot(2, 1), m_vdot(3, 1));
//    return vdot;
//}