![](/media/cache/group/default_image.jpg.50x50_q85.jpg)
Emaxx Navigation code ported for MBED
Dependencies: BNO055_fusion Emaxx_Navigation_Dynamic_HIL MODSERIAL ServoIn ServoOut Vehicle_Model mbed
Fork of Emaxx_Navigation_Dynamic_HIL by
Diff: main.cpp
- Revision:
- 3:9b6db94aa2b3
- Parent:
- 2:0c9c3c1f3b18
- Child:
- 4:e27ca0c82814
--- a/main.cpp Thu Aug 25 15:47:50 2016 +0000 +++ b/main.cpp Wed Sep 14 18:19:50 2016 +0000 @@ -250,7 +250,7 @@ psi_err = wrapToPi(des_psi-imu.euler.yaw); spd_err = des_spd - ekf.getSpd(); spd_err_i += spd_err; - str = -Kp_psi*psi_err; + str = -Kp_psi*psi_err/ekf.getSpd(); thr = Kp_spd*spd_err + Ki_spd*spd_err_i/LOOP_RATE;