HAPSRG / Mbed 2 deprecated optWingforHAPS_Eigen

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Dependencies:   mbed LPS25HB_I2C LSM9DS1 PIDcontroller Autopilot_Eigen LoopTicker GPSUBX_UART_Eigen SBUS_without_mainfile MedianFilter Eigen UsaPack solaESKF_Eigen Vector3 CalibrateMagneto FastPWM

Files at this revision

API Documentation at this revision

Revision 130:3a0ab2affb0f, committed 2021-11-29

Comitter:
osaka
Date:
Mon Nov 29 12:33:47 2021 +0000
Parent:
129:a76be8380bb2
Child:
131:45542fcc886f
Commit message:
NED position OK

Changed in this revision

GPSUBX_UART.lib Show annotated file Show diff for this revision Revisions of this file
autopilot.cpp Show annotated file Show diff for this revision Revisions of this file
transferData.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/GPSUBX_UART.lib	Mon Nov 29 09:45:44 2021 +0000
+++ b/GPSUBX_UART.lib	Mon Nov 29 12:33:47 2021 +0000
@@ -1,1 +1,1 @@
-https://os.mbed.com/teams/HAPSRG/code/GPSUBX_UART/#1ed344c662d2
+https://os.mbed.com/teams/HAPSRG/code/GPSUBX_UART/#e77382079cd9

--- a/autopilot.cpp	Mon Nov 29 09:45:44 2021 +0000
+++ b/autopilot.cpp	Mon Nov 29 12:33:47 2021 +0000
@@ -2,7 +2,7 @@
  
 void level_flight()
 {
-    autopilot.update_val(rpy, palt, pi, vi);
+    autopilot.update_val(rpy, -palt, pi, vi);
     autopilot.level();
     autopilot.keep_alt();
     autopilot.return_val(roll_obj, pitch_obj, dT_obj);
@@ -10,7 +10,7 @@
  
 void point_guide()
 {
-    autopilot.update_val(rpy, palt, pi, vi);
+    autopilot.update_val(rpy, -palt, pi, vi);
     autopilot.guide();
     autopilot.keep_alt();
     autopilot.return_val(roll_obj, pitch_obj, dT_obj);  

--- a/transferData.cpp	Mon Nov 29 09:45:44 2021 +0000
+++ b/transferData.cpp	Mon Nov 29 12:33:47 2021 +0000
@@ -29,7 +29,7 @@
     //twelite.printf("%f %f %f %f %f %f\r\n",da,de,dT,rpy.x*180.0f/M_PI,rpy.y*180.0f/M_PI,rpy.z*180.0f/M_PI);
     //twelite.printf("%f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f\r\n",1.0f/att_dt,rpy.x*180.0f/M_PI,rpy.y*180.0f/M_PI,rpy.z*180.0f/M_PI, pihat(1,1),pihat(2,1),pihat(3,1),vihat(1,1),vihat(2,1),vihat(3,1),accBias(1,1),accBias(2,1),accBias(3,1),gyroBias(1,1),gyroBias(2,1),gyroBias(3,1),gravity(1,1),gravity(2,1),gravity(3,1));
         
-    twelite.printf("%d %f %f %f %f %f %f %f %f %f %f %f\r\n",gps.gpsFix ,_t.read(),rpy.x*180.0f/M_PI,rpy.y*180.0f/M_PI,rpy.z*180.0f/M_PI,pihat(1,1),pihat(2,1),pihat(3,1),vihat(1,1),vihat(2,1),vihat(3,1),sqrt(dynaccnorm2));
+    twelite.printf("%d %f %f %f %f %f %f %f %f %f %f %f %f %f\r\n",gps.gpsFix ,_t.read(),rpy.x*180.0f/M_PI,rpy.y*180.0f/M_PI,rpy.z*180.0f/M_PI,pihat(1,1),pihat(2,1),pihat(3,1),vihat(1,1),vihat(2,1),vihat(3,1),sqrt(dynaccnorm2),gps.Longitude,gps.Latitude);
     //twelite.printf("%d %f %f %f %f %f %f %f %f %f %f\r\n",gps.gpsFix ,1.0f/att_dt,rpy.x*180.0f/M_PI,rpy.y*180.0f/M_PI,rpy.z*180.0f/M_PI,pi.x,pi.y,pi.z,vi.x,vi.y,vi.z);
     //twelite.printf("%f %f %f %f %f %f\r\n",accBias(1,1),accBias(2,1),accBias(3,1),gyroBias(1,1),gyroBias(2,1),gyroBias(3,1));
     //twelite.printf("%f %f %f %f %f %f\r\n",pi.x,pi.y,pi.z,vi.x,vi.y,vi.z);