void FlightControl::calibrateGyro() {
int16_t gz = 0;
LowPassFilter glp(100);
for(uint8_t i=0;i<100;i++) {
delay(1);
gz = glp.filter(AccelGyro.getRotationZ());
}
gyroBias = gz;
}
void initialize()
{
int q[zhongqunshu1][1],s=1;
float xx[zhongqunshu1][1];//生成的glp用x储存
int h[1]={1};//生成向量
zuiyougeti=new individual;//最优个体的生成
zhongqunshu=200;//种群数量
nowpop=new individual[zhongqunshu1];//当代
newpop=new individual[zhongqunshu1];//新一代
maxgen=150;//最大代数
gen=0;//起始代
lchrom=22;//基因数量的初始化
mysrand(time(0));//随机数种子
a[0]=seed;//随机数种子
//对最优个体的初始化
zuiyougeti->geti=0;
zuiyougeti->fitness=0;
zuiyougeti->shiyingdu=0;
//
glp(zhongqunshu,s,h,q,xx);
//for(int i=0;i<zhongqunshu1;i++)//产生初始种群
//{
// for(int j=0;j<s;j++)
// {
// nowpop[i].geti=zuobianjie+(youbianjie-zuobianjie)*xx[i][j];
// }
//}
for(int i=0;i<zhongqunshu1;i++)//产生初始种群
{
nowpop[i].geti=zuobianjie+(youbianjie-(zuobianjie))*ran1(a);
}
//nowpop[0].geti=999;//////////////////////////
guanjiancanshujisuan();
jingyingbaoliu(); //精英保留的实现
guanjiancanshujisuan();//计算shiyingdu,根据shiyingdu计算sumshiyingdu,对shiyingdu进行尺度变换变成fitness,根据fitness计算sumfitness，avefitness，maxfitness
}
