Diff: global.hpp

Revision:

106:36458fb9b5b7

Parent:

104:f81befbc5ab7

Child:

107:78e6f7bee68e

--- a/global.hpp	Tue Mar 01 09:19:27 2022 +0000
+++ b/global.hpp	Wed Mar 02 09:23:39 2022 +0000
@@ -63,10 +63,10 @@
     float pi[3];
     float de_command;
     float gps_acc;
-    float px_opt;
-    float py_opt;
+    float vx_opt;
+    float vy_opt;
     float dist_ir;
-    float dt_opt;
+    //float dt_opt;
 };
 
 // var
@@ -100,7 +100,7 @@
 extern int loop_count;
 extern float tstart;
 extern float tgps;
-extern float theading;
+extern float tsensors;
 extern float att_dt;
 extern float rc[16];
 
@@ -126,26 +126,20 @@
 extern float palt;
 extern float palt0;
 extern bool gpsUpdateFlag;
-extern bool headingUpdateFlag;
+extern bool sensorUpdateFlag;
+extern int sensorUpdateID;
 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 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];
 extern float servoOut[1];
 
-
-extern float val_thmg;
-extern float sigma_thmg;
-extern float th_mg;
-extern float accnormerr;
-extern float sigma_accnorm;
-
 extern int calibrationFlag;
 extern int pos_tail; // 0:left 1:center 2:right
 extern float agoffset[6];