HAPSRG / Mbed 2 deprecated hexaTest_Eigen

solaESKF_EIGEN

Dependencies:   mbed LPS25HB_I2C LSM9DS1 PIDcontroller LoopTicker GPSUBX_UART_Eigen SBUS_without_mainfile MedianFilter Eigen UsaPack solaESKF_Eigen Vector3 CalibrateMagneto FastPWM

Diff: global.cpp

Revision:
132:896ad37b534b
Parent:
129:a76be8380bb2
Child:
133:346ce20b3950
--- a/global.cpp	Mon Nov 29 09:45:44 2021 +0000
+++ b/global.cpp	Tue Nov 30 07:11:16 2021 +0000
@@ -5,7 +5,7 @@
 
 // communication
 UsaPack pc(USBTX, USBRX, 115200); // log - tail
-Serial sd(PG_14,PG_9);
+UsaPack sd(PG_14,PG_9, 115200);
 Serial twelite(PD_1,PD_0);
 // io
 DigitalIn userButton(USER_BUTTON);
@@ -37,7 +37,8 @@
 float att_dt = 0.01f;
 // position
 Matrix SensorAlignmentAG(3,3);
-Matrix SensorAlignmentMAG(3,3); 
+Matrix SensorAlignmentMAG(3,3);
+Matrix euler(3,1);
 Vector3 rpy(0.0f, 0.0f, 0.0f); // x:roll  y:pitch  z:yaw
 Vector3 acc;
 Vector3 accref(0.0f, 0.0f, 9.8f);
@@ -81,6 +82,7 @@
 // UsaPack
 valuePack vp;
 sendPack sp;
+logPack lp;
 
 // HIL
 bool hilFlag = false;