aigamozu / Mbed 2 deprecated Aigamozu_Base_ver2

2015/05/14

Dependencies:   ADXL345 AigamozuControlPackets HMC5843 ITG3200 MBed_Adafruit-GPS-Library XBee agzIDLIST agz_common mbed

Fork of Aigamozu_Base_ver1_3 by aigamozu

Files at this revision

API Documentation at this revision

Revision 2:d97700414618, committed 2015-05-13

Comitter:
kityann
Date:
Wed May 13 08:41:58 2015 +0000
Parent:
1:ee2713435312
Child:
3:60bad3679b4b
Commit message:
2015/05/13

Changed in this revision

AigamozuControlPackets.lib Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/AigamozuControlPackets.lib	Tue May 12 11:36:34 2015 +0000
+++ b/AigamozuControlPackets.lib	Wed May 13 08:41:58 2015 +0000
@@ -1,1 +1,1 @@
-http://mbed.org/teams/aigamozu/code/AigamozuControlPackets/#01882120e6cf
+http://mbed.org/teams/aigamozu/code/AigamozuControlPackets/#4f1516421f02

--- a/main.cpp	Tue May 12 11:36:34 2015 +0000
+++ b/main.cpp	Wed May 13 08:41:58 2015 +0000
@@ -13,8 +13,9 @@
 //2015/05/11
 //ベースプログラムの作成
 //
-//
-//
+//2015/05/13
+//カルマンフィルタの共分散の値を0.0001以下にならないようにした
+//共分散の値を10進数に変換するようにした
 /**********************************************/
 
 #include "mbed.h"
@@ -26,6 +27,9 @@
 #include "agz_common.h"
 #include "Kalman.h"
 
+
+#define SIGMA_MIN 0.0001
+
 //************ID Number*****************
 const char MyID = 'D';
 //************ID Number*****************
@@ -215,6 +219,9 @@
             sigma[0][i][j]=sigma[1][i][j];
         }
     }
+    
+    if(sigma[0][0][0] < SIGMA_MIN)sigma[0][0][0]=SIGMA_MIN;
+    if(sigma[0][1][1] < SIGMA_MIN)sigma[0][1][1]=SIGMA_MIN;
             
     myGPS->latitudeKH=myGPS->latitudeH;//latitude after filtering
     myGPS->longitudeKH=myGPS->longitudeH;//longitude after filtering