HAPSRG / Mbed 2 deprecated HAPStail

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   mbed MatrixMath LPS25HB_I2C LSM9DS1 Matrix2 PIDcontroller LoopTicker SBUS_without_mainfile UsaPack solaESKF_wind Vector3 CalibrateMagneto FastPWM

Diff: global.hpp

Revision:
120:9f4725deb5a6
Parent:
119:43ac44c68ff0
Child:
121:1d5b3e1f0d21
diff -r 43ac44c68ff0 -r 9f4725deb5a6 global.hpp
--- a/global.hpp	Thu Mar 31 01:08:44 2022 +0000
+++ b/global.hpp	Thu Mar 31 03:33:28 2022 +0000
@@ -78,10 +78,13 @@
     int16_t accData[3];
     int16_t gyroData[3];
     int16_t magData[3];
+    int16_t viData[3];
+    int16_t piData[3];
     int16_t actData[4];
     int16_t commandIndex;
     int16_t commandVal;
 };
+
 struct sendPack
 {
     float de;
@@ -93,6 +96,8 @@
 
 // var
 
+extern bool hilFlag;
+
 // communication
 extern UsaPack pc;
 extern I2C i2c;  // sda, scl
@@ -152,7 +157,8 @@
 extern Vector3 mag;
 extern Vector3 magref;
 extern Vector3 gyro;
-extern Vector3 vb;
+extern Vector3 vi;
+extern Vector3 pi;
 extern float palt;
 extern float palt0;
 extern bool gpsUpdateFlag;
@@ -221,8 +227,14 @@
 
 // sensor.cpp
 extern void getIMUval();
+extern void getGPSval();
 extern void calcOpticalVel();
 
+// hil.cpp
+extern void getHilIMUval();
+extern void getHilGPSval();
+extern float randn();
+
 // servo.cpp
 extern void calcServoOut();