Marco Rubio
/
RTOS_Controller_v3
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Dependencies: IMU MODSERIAL Servo mbed
Fork of
RTOS_Controller_v2
by 
Andrew Olguin
Diff: vessel.h
- Revision:
- 8:2db98df6fbbb
- Parent:
- 7:396fa2a8648d
- Child:
- 9:9aaa7f0c8960
--- a/vessel.h Fri Jul 29 15:34:59 2016 +0000
+++ b/vessel.h Fri Jul 29 16:44:24 2016 +0000
@@ -296,13 +296,13 @@
// m7 = abs((accxs + yaws) / yy);
m0 = (acczs + pitchs + rolls - depths) / zpr + 0.5;//
- m1 = (accys + yaws) / yy + 0.5;
+ m1 = (accys + yaws) / -yy + 0.5;
m2 = (acczs + pitchs - rolls - depths) / -zpr + 0.5;//
- m3 = (accxs + yaws) / -xy + 0.5;
+ m3 = (accxs + yaws) / xy + 0.5;
m4 = (acczs - pitchs - rolls - depths) / zpr + 0.5;//
- m5 = (accys + yaws) / yy + 0.5;
+ m5 = (accys + yaws) / -yy + 0.5;
m6 = (acczs - pitchs + rolls - depths) / -zpr + 0.5;//
- m7 = (accxs + yaws) / yy + 0.5;
+ m7 = (accxs + yaws) / -yy + 0.5;
//pc.printf("%f,%f,%f,%f\n\r",accxs, yaws, yy, (accxs + yaws) / yy + 0.5);
pc.printf("%f,%f,%f, %f,%f,%f, %f, %f \n\r",powerPin.read(), acczs, yaws, pitchs, rolls, zpr, depths, (acczs + pitchs + rolls - depths) / zpr + 0.5);