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:
- 61:c05353850017
- Parent:
- 56:888379912f81
- Child:
- 64:e9661430f0e3
--- a/global.hpp Wed Jun 02 06:14:47 2021 +0000 +++ b/global.hpp Thu Jun 03 11:28:13 2021 +0000 @@ -7,6 +7,7 @@ #include "LoopTicker.hpp" #include "MPU6050.h" #include "MAG3110.h" +#include "CalibrateMagneto.h" #include "I2Cdev.h" #include "FastPWM.h" #include <cmath> @@ -28,7 +29,7 @@ #define servoPwmMin 1200.0f #define motorPwmMax 2000.0f #define motorPwmMin 1100.0f -#define N_EEPROM 10 +#define N_EEPROM 12 // struct union union U @@ -59,6 +60,7 @@ // sensor extern MPU6050 accelgyro; extern MAG3110 mag_sensor; +extern CalibrateMagneto magCalibrator; // io extern DigitalIn userButton; @@ -94,19 +96,21 @@ extern Vector3 LPacc; extern Vector3 LPmag; -extern int out1, out2; extern float scaledServoOut[1]; extern float servoOut[1]; extern float val_thmg; +extern float sigma_thmg; extern float th_mg; extern float accnormerr; - +extern float sigma_accnorm; + extern int calibrationFlag; extern int pos_tail; // 0:left 1:center 2:right extern int agoffset[6]; -extern float magbias[4]; +extern float magbiasMin[3]; +extern float magbiasMax[3]; extern Vector3 rpy_align;