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change kalman
Dependencies: ADXL345 AigamozuControlPackets HMC5843 ITG3200 MBed_Adafruit-GPS-Library XBee agzIDLIST agz_common mbed
Fork of Aigamozu_Base_ver3 by
Diff: main.cpp
- Revision:
- 11:617453352e91
- Parent:
- 10:ea620ba4117c
- Child:
- 12:83be8a3c212d
--- a/main.cpp Sun May 17 14:28:39 2015 +0000 +++ b/main.cpp Mon May 18 02:24:43 2015 +0000 @@ -31,7 +31,7 @@ #define SIGMA_MIN 0.0001 //************ID Number***************** -const char MyID = 'd'; +const char MyID = 'a'; //************ID Number***************** ///////////////////////////////////////// @@ -129,14 +129,14 @@ agz.nowStatus = GPS_AVAIL; if(flag){//初期値設定 - if(myGPS->latitudeH>=36 && myGPS->latitudeH<=38 && myGPS->longitudeH>=138 && myGPS->longitudeH<=141){ + if(myGPS->latitudeH>=36 && myGPS->latitudeH<=38 && myGPS->longitudeH>=138 && myGPS->longitudeH<=140){ flag = false; x[0][0]=(double)myGPS->latitudeL; x[0][1]=(double)myGPS->longitudeL; } } - if(myGPS->longitudeH<138 || myGPS->longitudeH>141 || myGPS->latitudeH<36 || myGPS->latitudeH>38){ + if(myGPS->longitudeH<138 || myGPS->longitudeH>140 || myGPS->latitudeH<37 || myGPS->latitudeH>38){ return; } //Kalman Filter