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
Diff: imu.cpp
- Revision:
- 111:0fae4fbe2a80
- Parent:
- 104:20b8caa29185
- Child:
- 113:3e47d9881529
diff -r 5bf69c7afdbf -r 0fae4fbe2a80 imu.cpp --- a/imu.cpp Fri Nov 12 12:56:48 2021 +0000 +++ b/imu.cpp Mon Nov 15 13:42:01 2021 +0000 @@ -23,11 +23,11 @@ Matrix magraw(3,1); magraw << lsm.mx <<lsm.my << lsm.mz; - magres = magCalibrator.calcResidial(magraw); - if(magres > magresThreshold){ - magCalibrator.updateParams(magraw,0.1f); - }; - Matrix magmod = SensorAlignment*magCalibrator.outCalibratedMag(magraw); + //magres = magCalibrator.calcResidial(magraw); + //if(magres > magresThreshold){ + // magCalibrator.updateParams(magraw,0.1f); + //}; + Matrix magmod = SensorAlignment*magraw; mag.x = magmod(1,1); mag.y = magmod(2,1); mag.z = magmod(3,1);