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:
- 120:a0da2ce20a8e
- Parent:
- 119:a21e283730d1
- Child:
- 122:68efdee114fa
- Child:
- 123:b63d3524ffbc
- Child:
- 124:7d6b1b62483b
diff -r a21e283730d1 -r a0da2ce20a8e run.cpp --- a/run.cpp Thu Nov 18 08:48:29 2021 +0000 +++ b/run.cpp Thu Nov 18 10:10:18 2021 +0000 @@ -68,8 +68,8 @@ Matrix RImuConst(5,5); setDiag(RImuConst,50.0f); - RImuConst(4,4) = 0.01f; - RImuConst(5,5) = 0.01f; + RImuConst(4,4) = 0.001f; + RImuConst(5,5) = 0.001f; Matrix RotherConst(2,2); setDiag(RotherConst,0.1f); @@ -77,10 +77,10 @@ Matrix Racc(3,3); setDiag(Racc,50.0f); - Matrix Rheading(3,3); + Matrix Rheading(2,2); Rheading(1,1) = 0.001f; Rheading(2,2) = 0.001f; - Rheading(3,3) = 0.001f; + //Rheading(3,3) = 0.001f; //Rheading(4,4) = 0.1f; _t.start(); float tgps = _t.read(); @@ -115,12 +115,12 @@ }else{ //eskf.updateOtherConstraints(MatrixMath::Vector2mat(mag),palt,RotherConst); - //eskf.updateImuConstraints(MatrixMath::Vector2mat(acc),MatrixMath::Vector2mat(mag),RImuConst); + eskf.updateImuConstraints(MatrixMath::Vector2mat(acc),MatrixMath::Vector2mat(mag),RImuConst); //eskf.updateotherConstraints(MatrixMath::Vector2mat(mag),palt,RotherConst); //if(_t.read()>20){ - eskf.updateMag(MatrixMath::Vector2mat(mag),Rheading); + //eskf.updateMag(MatrixMath::Vector2mat(mag),Rheading); //} - eskf.updateAcc(MatrixMath::Vector2mat(acc),Racc); + //eskf.updateAcc(MatrixMath::Vector2mat(acc),Racc); } PIDtick.loop();