Flying Sea Glider / Mbed 2 deprecated 2019_10may_firstflight_jcw_nosd

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Dependencies:   mbed MODSERIAL FATFileSystem

Diff: OuterLoop/OuterLoop.cpp

Revision:
87:6d95f853dab3
Parent:
85:dd8176285b6e
--- a/OuterLoop/OuterLoop.cpp	Thu May 02 20:34:16 2019 +0000
+++ b/OuterLoop/OuterLoop.cpp	Wed May 08 13:24:04 2019 +0000
@@ -22,6 +22,7 @@
     
     if (_sensor == 2) {
         _pid.setHeadingFlag(true);  //used to update the handling for the heading PID control loop
+        _filter.setHeadingFlag(true);
     }
 }
 
@@ -62,6 +63,9 @@
         _sensorVal = imu().getPitch();
     } else if (_sensor == 2) {
         _sensorVal = imu().getHeading();
+    } else if (_sensor == 3) {
+      _sensorVal = sensors().getAltimeterChannelReadings();  // 27mar2019    this is still in counts
+     //    _sensorVal = imu().getPitch();  // 27mar2019   testing sensors error?
     } else {
         error("\n\r This sensor option does not exist");
     }