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: run.cpp
- Revision:
- 115:1199d19cb10f
- Parent:
- 114:88abd741f44d
- Child:
- 116:663f5889dd17
diff -r 88abd741f44d -r 1199d19cb10f run.cpp --- a/run.cpp Tue Nov 16 14:17:57 2021 +0000 +++ b/run.cpp Tue Nov 16 14:23:25 2021 +0000 @@ -49,11 +49,15 @@ eskf.setPhatAccBias(0.001f); eskf.setPhatGyroBias(0.001f); eskf.setPhatGravity(0.0000001f); + eskf.setPhatGyroBias(0.001f); + eskf.setPhatMagRadius(0.01f); eskf.setQVelocity(0.0025f); eskf.setQAngleError(0.00025f); eskf.setQAccBias(0.0000001f); eskf.setQGyroBias(0.000001f); + eskf.setQMagBias(0.000001f); + eskf.setQMagRadius(0.000001f); Matrix Rgps(5,5); setDiag(Rgps,2.0f);