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Dependencies: mbed MatrixMath LPS25HB_I2C LSM9DS1 Matrix2 PIDcontroller LoopTicker SBUS_without_mainfile UsaPack solaESKF_wind Vector3 CalibrateMagneto FastPWM
Diff: global.cpp
- Revision:
- 90:0b1f62f7a83a
- Parent:
- 88:0fc5df2fddcb
- Child:
- 91:393b9ae62681
diff -r 316c20d3184c -r 0b1f62f7a83a global.cpp
--- a/global.cpp Wed Jan 12 09:54:55 2022 +0000
+++ b/global.cpp Thu Jan 13 08:38:56 2022 +0000
@@ -55,6 +55,7 @@
MedianFilter magMedian(3);
float palt;
float palt0;
+bool gpsUpdateFlag = false;
bool headingUpdateFlag = false;
float dynaccnorm2;
@@ -70,14 +71,13 @@
int calibrationFlag = 0;
int pos_tail = 0; // 0:left 1:center 2:right
-int agoffset[6] = {0, 0, 0, 0, 0, 0};
+float agoffset[6] = {0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f};
float magbiasMin[3] = {0.0f, 0.0f, 0.0f};
float magbiasMax[3] = {0.0f, 0.0f, 0.0f};
float accMin[3] = {-1.0f, -1.0f, -1.0f};
float accMax[3] = { 1.0f, 1.0f, 1.0f};
int gpsitow = 0;
-Vector3 rpy_align(0.0f*M_PI/180.0f, 0.0f*M_PI/180.0f, 0.0f);
float roll_offset = 0.0f;
float pitch_offset = 0.0f;