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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:
- 118:97ffe77b6f38
- Parent:
- 109:27ae949bc38e
- Child:
- 120:9f4725deb5a6
diff -r 8cedc59454c4 -r 97ffe77b6f38 global.cpp --- a/global.cpp Wed Mar 30 04:47:36 2022 +0000 +++ b/global.cpp Wed Mar 30 05:30:13 2022 +0000 @@ -3,7 +3,7 @@ // var // communication -Serial pc(USBTX, USBRX); +UsaPack pc(USBTX, USBRX, 115200); I2C i2c(PB_9,PB_8); // sda, scl UsaPack tail(PG_14, PG_9, 115200); // log - tail SBUS sbus(PD_5, PD_6); @@ -48,6 +48,8 @@ float deobj; float dr; float drobj; +float dTl; +float dTr; // position Matrix SensorAlignmentAG(3,3); @@ -101,6 +103,8 @@ const int time_address = 4444; valuePack posValues; updatePack updateValues; +receivePack rp; +sendPack sp; Timer system_dt; float mapfloat(float x, float in_min, float in_max, float out_min, float out_max)