HAPSRG / Mbed 2 deprecated HAPStail

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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:
107:78e6f7bee68e
Parent:
106:36458fb9b5b7
Child:
112:5a82800e1485
--- a/global.hpp	Wed Mar 02 09:23:39 2022 +0000
+++ b/global.hpp	Mon Mar 07 09:16:40 2022 +0000
@@ -69,6 +69,7 @@
     //float dt_opt;
 };
 
+
 // var
 
 // communication
@@ -91,8 +92,12 @@
 
 // control
 extern FastPWM servo;
+extern FastPWM rudServo;
+extern FastPWM motor1;
+extern FastPWM motor2;
 extern PID pitchPID; // rad
 extern PID pitchratePID;// rad/s
+extern PID yawratePID;// rad/s
 extern int itowVEL_log;
 extern solaESKF eskf;
 
@@ -111,6 +116,8 @@
 // elevator
 extern float de;
 extern float deobj;
+extern float dr;
+extern float drobj;
 
 // position
 extern Matrix SensorAlignmentAG;
@@ -137,8 +144,10 @@
 //extern const int pixel_y;
 
 
-extern float scaledServoOut[1];
-extern float servoOut[1];
+extern float scaledServoOut[2];
+extern float servoOut[2];
+extern float scaledMotorOut[2];
+extern float motorOut[2];
 
 extern int calibrationFlag;
 extern int pos_tail; // 0:left 1:center 2:right