Diff: global.hpp

Revision:

88:0fc5df2fddcb

Parent:

87:981895e1d4f2

Child:

90:0b1f62f7a83a

--- a/global.hpp	Fri Jan 07 09:49:19 2022 +0000
+++ b/global.hpp	Wed Jan 12 07:00:08 2022 +0000
@@ -36,7 +36,7 @@
 // struct union
 union U
 {
-    int i[N_EEPROM]; // 0: flag(>1で正常に書き込まれた状態) 1 ~ 3: 磁場の中心座標, 4: 磁場の半径、 5~7; mag, 8~10: acc bias
+    int i[N_EEPROM]; // 0: flag(>1で正常に書き込まれた状態) 1 ~ 3: 磁場の中心座標, 4: 磁場の半径、 5~7; mag, 10: roll offset, 11: pitch offset 
     char c[N_EEPROM*4]; // floatはcharの4倍
 };
 
@@ -48,14 +48,17 @@
     float gyro[3];
     float mag[3];
     float rpy[3];
+    float altitude;
     float de;
     float deobj;
     float rc[5];
+    int calibEndFlag;
 };
 
 struct updatePack
 {
     bool gpsUpdateFlag;
+    int calibrationFlag;
     char gps_fix;
     int gps_itow;
     float vi[3];
@@ -142,6 +145,8 @@
 extern float accMax[3];
 
 extern Vector3 rpy_align;
+extern float roll_offset;
+extern float pitch_offset;
 
 // eepromのread writeのためのunionを定義
 extern const int eeprom_address; // EEPROMの3つの入力が全て+より
@@ -162,6 +167,10 @@
 extern void setup();
 extern void calibrate();
 extern float accScaleCalibrate(int attNo);
+extern void alignment();
+extern int n_ave;
+extern float roll_sum;
+extern float pitch_sum;
 
 // run.cpp
 extern int gpsitow;