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Dependencies: mbed MatrixMath LPS25HB_I2C LSM9DS1 Matrix2 PIDcontroller LoopTicker SBUS_without_mainfile UsaPack solaESKF_wind Vector3 CalibrateMagneto FastPWM
Diff: global.hpp
- Revision:
- 84:028bd650e8bc
- Parent:
- 83:0a644de28415
- Child:
- 85:0b14a2a600fc
--- a/global.hpp Mon Dec 06 11:16:56 2021 +0000
+++ b/global.hpp Mon Dec 06 12:58:20 2021 +0000
@@ -42,8 +42,6 @@
struct valuePack
{
- int day;
- int ms;
float gyroBias[3];
float gyroBiasCov[6];
float acc[3];
@@ -57,13 +55,12 @@
struct updatePack
{
- int day;
- int ms;
- int gps_itowPOS;
- int gps_itowVEL;
+ bool gpsUpdateFlag;
+ char gps_fix;
+ int gps_itow;
+ float vi[3];
+ float pi[3];
float gyroBias[3];
- float posgps[3];
- float vgps[3];
float de_command;
};
@@ -91,8 +88,8 @@
extern FastPWM servo;
extern PID pitchPID; // rad
extern PID pitchratePID;// rad/s
-extern ScErrStateEKF ekf; // EKF class
extern int itowVEL_log;
+extern solaESKF eskf;
extern int loop_count;
extern float att_dt;
@@ -121,6 +118,8 @@
extern MedianFilter accMedian;
extern MedianFilter gyroMedian;
extern MedianFilter magMedian;
+extern bool headingUpdateFlag;
+extern float dynaccnorm2;
extern float scaledServoOut[1];
@@ -179,5 +178,6 @@
// global.cpp
extern float mapfloat(float x, float in_min, float in_max, float out_min, float out_max);
+extern void setDiag(Matrix& mat, float val);
#endif
\ No newline at end of file