Important changes to repositories hosted on mbed.com
Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.
To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.
It is also possible to export all your personal repositories from the account settings page.
Dependencies: mbed MatrixMath LPS25HB_I2C LSM9DS1 Matrix2 PIDcontroller LoopTicker SBUS_without_mainfile UsaPack solaESKF_wind Vector3 CalibrateMagneto FastPWM
Diff: global.hpp
- Revision:
- 83:0a644de28415
- Parent:
- 79:aa2631950f46
- Child:
- 84:028bd650e8bc
--- a/global.hpp Wed Sep 29 12:46:07 2021 +0000 +++ b/global.hpp Mon Dec 06 11:16:56 2021 +0000 @@ -5,8 +5,9 @@ #include "PIDcontroller.h" #include "SBUS.hpp" #include "LoopTicker.hpp" -#include "MPU6050.h" -#include "MAG3110.h" +#include "LSM9DS1.h" +#include "LPS.h" +#include "solaESKF.hpp" #include "CalibrateMagneto.h" #include "I2Cdev.h" #include "FastPWM.h" @@ -75,8 +76,10 @@ extern SBUS sbus; // sensor -extern MPU6050 accelgyro; -extern MAG3110 mag_sensor; +extern LSM9DS1 lsm; +extern LPS lps; +//extern UsaPack sensor1; +//extern UsaPack sensor2; extern CalibrateMagneto magCalibrator; // io @@ -97,7 +100,6 @@ extern int16_t ax, ay, az; extern int16_t gx, gy, gz; -extern MotionSensorDataUnits mdata; extern float magval[3]; // elevator @@ -105,6 +107,8 @@ extern float deobj; // position +extern Matrix SensorAlignmentAG; +extern Matrix SensorAlignmentMAG; extern Vector3 rpy; // x:roll y:pitch z:yaw extern Vector3 acc; extern Vector3 accref; @@ -112,6 +116,8 @@ extern Vector3 magref; extern Vector3 gyro; extern Vector3 vb; +extern float palt; +extern float palt0; extern MedianFilter accMedian; extern MedianFilter gyroMedian; extern MedianFilter magMedian;