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:
- 76:7fd3ac1afe3e
- Parent:
- 73:84ffa0166e6c
- Child:
- 77:2bf856e3eca4
--- a/global.hpp Tue Jul 20 11:57:05 2021 +0000 +++ b/global.hpp Sat Aug 07 06:54:58 2021 +0000 @@ -13,7 +13,7 @@ #include <cmath> #include "UsaPack.hpp" #include "Vector3.hpp" -#include "errStateEKF.hpp" +#include "ScErrStateEKF.hpp" #include "MedianFilter.hpp" #include "Joystick.h" @@ -37,6 +37,9 @@ int16_t accData[3]; int16_t gyroData[3]; int16_t magData[3]; + int16_t actData[4]; + int16_t commandIndex; + float commandVal; }; // var @@ -44,6 +47,7 @@ // communication extern I2C i2c; // sda, scl extern UsaPack pc; // log - tail +extern Serial sd; // sensor extern MPU6050 accelgyro; @@ -63,7 +67,8 @@ extern PID pitchratePID;//rad/s extern PID rollPID; extern PID rollratePID;//rad/s -extern errStateEKF ekf; // EKF class +extern ScErrStateEKF ekf; // EKF class +extern int obsCount; extern float rc[16]; extern int loop_count; @@ -100,6 +105,7 @@ extern int agoffset[6]; extern float magbiasMin[3]; extern float magbiasMax[3]; +extern float magbias[4]; extern float accMin[3]; extern float accMax[3]; @@ -111,7 +117,9 @@ // HIL extern bool hilFlag; - +extern bool serialControlSource; +extern bool serialParamSource; +extern int checkParamSerial[5]; // function // main.cpp