HAPSRG / Mbed 2 deprecated hexaTest_Eigen

solaESKF_EIGEN

Dependencies:   mbed LPS25HB_I2C LSM9DS1 PIDcontroller LoopTicker GPSUBX_UART_Eigen SBUS_without_mainfile MedianFilter Eigen UsaPack solaESKF_Eigen Vector3 CalibrateMagneto FastPWM

Diff: global.hpp

Revision:
92:00460f6df439
Parent:
90:96c2b0ed4b96
Child:
93:b827f78a717a
--- a/global.hpp	Tue Oct 26 05:37:25 2021 +0000
+++ b/global.hpp	Thu Oct 28 09:44:47 2021 +0000
@@ -32,6 +32,7 @@
     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;
@@ -43,9 +44,7 @@
     float de;
     float dT;
     float rpy[3];
-    float vi[3];
     float vihat[3];
-    float accBias[3];
 };
 
 // var
@@ -87,6 +86,8 @@
 extern Vector3 magref;
 extern Vector3 gyro;
 extern Vector3 vi;
+extern Vector3 pi;
+extern float palt;
 
 extern float de;
 extern float da;
@@ -135,7 +136,8 @@
 extern void getIMUval();
 
 // hil.cpp
-extern void getHILval();
+extern void getHilIMUval();
+extern void getHilGPSval();
 extern float randn();
 
 // servo.cpp