Diff: global.hpp

Revision:

107:46e039e12182

Parent:

104:20b8caa29185

--- a/global.hpp	Wed Nov 10 06:35:10 2021 +0000
+++ b/global.hpp	Fri Nov 12 09:04:59 2021 +0000
@@ -17,6 +17,8 @@
 #include "solaESKF.hpp"
 #include "MedianFilter.hpp"
 #include "GPSUBX_UART.hpp"
+#include "Autopilot.hpp"
+#include <vector>
 
 #define magresThreshold 0.025f
 #define M_PI 3.141592f
@@ -100,6 +102,13 @@
 extern int itow_posllh;
 extern bool gpsUpdateFlag;
 
+extern float roll_obj;
+extern float pitch_obj;
+extern float alt_obj;
+extern std::vector<float> obj;
+extern Vector3 destination;
+extern Vector3 turn_center;
+extern float turn_radius;
 extern float de;
 extern float da;
 extern float dT;
@@ -133,6 +142,10 @@
 extern bool serialControlSource;
 extern bool serialParamSource;
 extern int checkParamSerial[5];
+
+//Autopilot
+extern Autopilot autopilot;
+
 // function
 
 // main.cpp
@@ -155,6 +168,11 @@
 extern void getHilGPSval();
 extern float randn();
 
+//autopilot.cpp
+extern void level_flight();
+extern void point_guide();
+extern void turning();
+
 // servo.cpp
 extern void calcServoOut();