Diff: global.cpp

Revision:

87:89bbbcdb667b

Parent:

83:e69ab831031c

Child:

88:be349faa1976

--- a/global.cpp	Mon Oct 18 12:18:15 2021 +0000
+++ b/global.cpp	Wed Oct 20 01:50:52 2021 +0000
@@ -7,11 +7,7 @@
 I2C i2c(PB_9,PB_8);  // sda, scl
 UsaPack pc(USBTX, USBRX, 115200); // log - tail
 Serial sd(PG_14,PG_9);
-
-// sensor
-MPU6050 accelgyro;
-MAG3110 mag_sensor(PB_9,PB_8);
-CalibrateMagneto magCalibrator;
+Serial twelite(PE_8,PE_7);
 
 // io
 DigitalIn userButton(USER_BUTTON);
@@ -31,19 +27,14 @@
 float rc[16];
 int loop_count = 0;
 float att_dt = 0.01f;
-int16_t ax, ay, az;
-int16_t gx, gy, gz;
-MotionSensorDataUnits mdata;
 
 // position
 Vector3 rpy(0.0f, 0.0f, 0.0f); // x:roll  y:pitch  z:yaw
 Vector3 acc;
 Vector3 accref(0.0f, 0.0f, 0.98f);
-Vector3 dynacc;
 Vector3 mag;
 Vector3 magref(0.65f, 0.0f, 0.75f);
 Vector3 gyro;
-Vector3 vb;
 Vector3 vi;
 
 float de = 0.0f;