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@128:e94453d3f699, 2021-11-25 (annotated)
- Committer:
- osaka
- Date:
- Thu Nov 25 10:18:27 2021 +0000
- Revision:
- 128:e94453d3f699
- Parent:
- 124:7d6b1b62483b
- Child:
- 131:45542fcc886f
debugged autopilot
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
osaka | 109:eb255fc4462b | 1 | #include "global.hpp" |
osaka | 109:eb255fc4462b | 2 | |
osaka | 109:eb255fc4462b | 3 | void level_flight() |
osaka | 109:eb255fc4462b | 4 | { |
osaka | 128:e94453d3f699 | 5 | autopilot.update_val(rpy, -palt, pi, vi); |
osaka | 109:eb255fc4462b | 6 | autopilot.level(); |
osaka | 121:2523eef96b36 | 7 | autopilot.keep_alt(); |
osaka | 121:2523eef96b36 | 8 | autopilot.return_val(roll_obj, pitch_obj, dT_obj); |
osaka | 109:eb255fc4462b | 9 | } |
osaka | 109:eb255fc4462b | 10 | |
osaka | 109:eb255fc4462b | 11 | void point_guide() |
osaka | 109:eb255fc4462b | 12 | { |
osaka | 128:e94453d3f699 | 13 | autopilot.update_val(rpy, -palt, pi, vi); |
osaka | 109:eb255fc4462b | 14 | autopilot.guide(); |
osaka | 121:2523eef96b36 | 15 | autopilot.keep_alt(); |
osaka | 121:2523eef96b36 | 16 | autopilot.return_val(roll_obj, pitch_obj, dT_obj); |
osaka | 109:eb255fc4462b | 17 | } |
osaka | 109:eb255fc4462b | 18 | |
osaka | 109:eb255fc4462b | 19 | void turning() |
osaka | 109:eb255fc4462b | 20 | { |
NaotoMorita | 124:7d6b1b62483b | 21 | autopilot.update_val(rpy, -palt, pi, vi); |
osaka | 109:eb255fc4462b | 22 | autopilot.turn(); |
osaka | 121:2523eef96b36 | 23 | autopilot.keep_alt(); |
osaka | 121:2523eef96b36 | 24 | autopilot.return_val(roll_obj, pitch_obj, dT_obj); |
osaka | 109:eb255fc4462b | 25 | } |