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.cpp

Revision:
107:46e039e12182
Parent:
104:20b8caa29185
--- a/global.cpp	Wed Nov 10 06:35:10 2021 +0000
+++ b/global.cpp	Fri Nov 12 09:04:59 2021 +0000
@@ -28,6 +28,7 @@
 PID rollratePID(0.05f, 0.0, 0.0, PID_dt);//rad/s
 solaESKF eskf; // ESKF class
 int obsCount = 0;
+Autopilot autopilot;
 
 float rc[16];
 int loop_count = 0;
@@ -49,6 +50,13 @@
 int itow_posllh;
 bool gpsUpdateFlag = false;
 
+float roll_obj;
+float pitch_obj;
+float alt_obj;
+std::vector<float> obj;
+Vector3 destination(100.0f, 100.0f, 0.0f);
+Vector3 turn_center(100.0f, 100.0f, 0.0f);
+float turn_radius = 50.0f;
 float de = 0.0f;
 float da = 0.0f;
 float dT = 0.0f;
@@ -73,6 +81,8 @@
 Vector3 rpy_align( 0.0f*M_PI/180.0f, 0.0f*M_PI/180.0f, 0.0f*M_PI/180.0f);
 
 
+
+
 // UsaPack
 valuePack vp;
 sendPack sp;