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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:
- 103:34e911b94440
- Parent:
- 99:37cfd8633c9b
- Child:
- 104:f81befbc5ab7
--- a/global.hpp Fri Feb 18 11:49:52 2022 +0000
+++ b/global.hpp Mon Feb 28 12:21:31 2022 +0000
@@ -63,6 +63,10 @@
float pi[3];
float de_command;
float gps_acc;
+ float px_opt;
+ float py_opt;
+ float dist_ir;
+ float dt_opt;
};
// var
@@ -120,6 +124,12 @@
extern bool gpsUpdateFlag;
extern bool headingUpdateFlag;
extern float dynaccnorm2;
+extern float opt_vx;
+extern float opt_vy;
+extern const float theta_px;
+extern const float theta_py;
+extern const int pixel_x;
+extern const int pixel_y;
extern float scaledServoOut[1];
@@ -172,8 +182,9 @@
extern bool prefligt_finished;
extern void run();
-// imu.cpp
+// sensor.cpp
extern void getIMUval();
+extern void calcOpticalVel();
// servo.cpp
extern void calcServoOut();