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:
- 61:c05353850017
- Parent:
- 57:923e3df16159
- Child:
- 62:ef10fd919f7b
diff -r b89ac376fba3 -r c05353850017 servo.cpp --- a/servo.cpp Wed Jun 02 06:14:47 2021 +0000 +++ b/servo.cpp Thu Jun 03 11:28:13 2021 +0000 @@ -71,9 +71,9 @@ //int ang_th = th_mg < 0.01877522; //int dyn_th = dynaccnorm < 0.00514146; //int norm_th = accnormerr< 0.00477393; - int ang_th = th_mg < 0.01877522/5.0; - int dyn_th = dynacc.Norm() < 0.00514146/5.0; - int norm_th = accnormerr< 0.00477393/5.0; + int ang_th = th_mg < sigma_thmg/200.0; + int dyn_th = dynacc.Norm() < sigma_accnorm/50.0; + int norm_th = accnormerr< sigma_accnorm/50.0; if(dyn_th+ang_th+norm_th>0) { //if(dyn_th+ang_th+norm_th>-1){