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 116:663f5889dd17, committed 2021-11-17

Comitter:
NaotoMorita
Date:
Wed Nov 17 01:40:40 2021 +0000
Parent:
115:1199d19cb10f
Child:
118:962f226bdf64
Commit message:
mod

Changed in this revision

run.cpp Show annotated file Show diff for this revision Revisions of this file
solaESKF.lib Show annotated file Show diff for this revision Revisions of this file 
--- a/run.cpp	Tue Nov 16 14:23:25 2021 +0000
+++ b/run.cpp	Wed Nov 17 01:40:40 2021 +0000
@@ -49,8 +49,8 @@
     eskf.setPhatAccBias(0.001f);
     eskf.setPhatGyroBias(0.001f);
     eskf.setPhatGravity(0.0000001f);
-    eskf.setPhatGyroBias(0.001f);
-    eskf.setPhatMagRadius(0.01f);
+    eskf.setPhatGyroBias(0.01f);
+    eskf.setPhatMagRadius(0.0001f);
     
     eskf.setQVelocity(0.0025f);
     eskf.setQAngleError(0.00025f);
@@ -80,10 +80,10 @@
     setDiag(Racc,50.0f);
     
     Matrix Rmag(3,3);
-    Rmag(1,1) = 0.001f;
-    Rmag(2,2) = 0.001f;
-    Rmag(3,3) = 0.001f;
-    //Rmag(4,4) = 0.001f;
+    Rmag(1,1) = 0.01f;
+    Rmag(2,2) = 0.01f;
+    Rmag(3,3) = 0.01f;
+    //Rmag(4,4) = 0.01f;
         _t.start();
     float tgps = _t.read();
     while(1)

--- a/solaESKF.lib	Tue Nov 16 14:23:25 2021 +0000
+++ b/solaESKF.lib	Wed Nov 17 01:40:40 2021 +0000
@@ -1,1 +1,1 @@
-https://os.mbed.com/teams/HAPSRG/code/solaESKF/#5519d34eb6e8
+https://os.mbed.com/teams/HAPSRG/code/solaESKF/#74a9565a0141