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: servo.cpp
- Revision:
- 133:346ce20b3950
- Parent:
- 132:896ad37b534b
- Child:
- 137:240588882ae2
diff -r 45542fcc886f -r 346ce20b3950 servo.cpp --- a/servo.cpp Mon Nov 29 13:13:34 2021 +0000 +++ b/servo.cpp Tue Nov 30 07:58:46 2021 +0000 @@ -10,7 +10,7 @@ //姿勢角の所得 - Matrix euler = eskf.computeAngles(); + euler = eskf.computeAngles(); rpy.x = euler(1,1); rpy.y = euler(2,1); rpy.z = euler(3,1); @@ -78,10 +78,10 @@ servoThrust.pulsewidth_us(motorOut[0]); sendData2PC(); - + writeSDcard(); + if(loop_count >= 5) { - writeSDcard(); sendTelemetry(); loop_count = 1;