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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:
- 71:62eb45ecffe9
- Parent:
- 70:9e7be21475f8
- Child:
- 73:be7a8b8188de
--- a/global.hpp Tue Jun 29 10:53:06 2021 +0000 +++ b/global.hpp Fri Aug 20 07:48:41 2021 +0000 @@ -13,7 +13,7 @@ #include <cmath> #include "UsaPack.hpp" #include "Vector3.hpp" -#include "errStateEKF.hpp" +#include "ScErrStateEKF.hpp" #include "MedianFilter.hpp" #define MPU6050_PWR_MGMT_1 0x6B @@ -30,7 +30,7 @@ #define servoPwmMin 1200.0f #define motorPwmMax 2000.0f #define motorPwmMin 1100.0f -#define N_EEPROM 18 +#define N_EEPROM 12 // struct union union U @@ -81,10 +81,10 @@ extern FastPWM servo; extern PID pitchPID; // rad extern PID pitchratePID;// rad/s -extern errStateEKF ekf; // EKF class +extern ScErrStateEKF ekf; // EKF class +extern int obsCount; extern int loop_count; -extern int obs_count; extern float att_dt; extern float rc[16]; @@ -99,13 +99,12 @@ // position extern Vector3 rpy; // x:roll y:pitch z:yaw -extern Vector3 rpy_g; // x:roll y:pitch z:yaw extern Vector3 acc; extern Vector3 accref; extern Vector3 mag; extern Vector3 magref; -extern Vector3 dynacc; extern Vector3 gyro; +extern Vector3 vb; extern MedianFilter accMedian; extern MedianFilter gyroMedian; extern MedianFilter magMedian;