Diff: global.hpp

Revision:

144:b3a713b4f1c4

Parent:

143:53808e4e684c

--- a/global.hpp	Fri Jun 24 05:44:34 2022 +0000
+++ b/global.hpp	Wed Jun 29 07:57:10 2022 +0000
@@ -13,7 +13,6 @@
 #include "CalibrateMagneto.h"
 #include "solaESKF.hpp"
 #include "GPSUBX_UART.hpp"
-#include "Autopilot.hpp"
 
 // Eigen
 #include <Eigen/Dense.h>
@@ -52,9 +51,7 @@
 
 struct sendPack
 {
-    float da;
-    float de;
-    float dT;
+    float motor[6];
     float euler[3];
     float state[4];
     float variance[3];
@@ -127,20 +124,23 @@
 
 // control
 extern Timer _t;
-extern FastPWM servoRight;
-extern FastPWM servoLeft;
-extern FastPWM servoThrust;
+extern FastPWM motor1;
+extern FastPWM motor2;
+extern FastPWM motor3;
+extern FastPWM motor4;
+extern FastPWM motor5;
+extern FastPWM motor6;
 extern PID pitchPID; //rad
 extern PID pitchratePID;//rad/s
 extern PID rollPID;
 extern PID rollratePID;//rad/s
 extern PID yawratePID;//rad/s
-extern PID climbratePID;//rad/s
+extern PID vxPID;//m/s
+extern PID vyPID;//m/s
+extern PID vzPID;//m/s
+
 extern solaESKF eskf; // EKF class
-extern Autopilot autopilot;
-extern float roll_obj;
-extern float pitch_obj;
-extern float dT_obj;
+
 
 extern float rc[16];
 extern int loop_count;
@@ -168,15 +168,12 @@
 
 extern float de;
 extern float da;
+extern float dr;
 extern float dT;
 
-extern float scaledServoOut[2];
-extern float scaledMotorOut[1];
-extern float servoOut[2];
-extern float motorOut[1];
+extern float scaledMotorOut[6];
+extern float motorOut[6];
 
-
-extern int calibrationFlag;
 extern float agoffset[6];