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:
- 133:346ce20b3950
- Parent:
- 132:896ad37b534b
- Child:
- 134:d57c6b2a706b
--- a/global.hpp Mon Nov 29 13:13:34 2021 +0000 +++ b/global.hpp Tue Nov 30 07:58:46 2021 +0000 @@ -50,14 +50,32 @@ float rpy[3]; float vihat[3]; }; +struct logPack +{ + float time; + float hertz; + float da; + float de; + float dT; + float rpy[3]; + float pihat[3]; + float vihat[3]; + float pi[3]; + float vi[3]; + float palt; + float acc[3]; + float gyro[3]; + float mag[3]; + float rc[16]; +}; // var // communication extern UsaPack pc; // log - tail -extern Serial sd; -extern Serial twelite; +extern UsaPack sd; +extern UsaPack twelite; // io extern DigitalIn userButton; @@ -93,6 +111,7 @@ // position extern Matrix SensorAlignmentAG; extern Matrix SensorAlignmentMAG; +extern Matrix euler; extern Vector3 rpy; // x:roll y:pitch z:yaw extern Vector3 acc; extern Vector3 accref; @@ -136,6 +155,7 @@ //// UsaPack extern valuePack vp; extern sendPack sp; +extern logPack lp; // HIL extern bool hilFlag;