Diff: global.hpp

Revision:

109:eb255fc4462b

Parent:

106:2d854e92cebb

Child:

110:5bf69c7afdbf

--- a/global.hpp	Fri Nov 12 09:03:41 2021 +0000
+++ b/global.hpp	Fri Nov 12 10:50:56 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
@@ -78,6 +80,14 @@
 extern PID rollratePID;//rad/s
 extern solaESKF eskf; // EKF class
 extern int obsCount;
+extern Autopilot autopilot;
+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 rc[16];
 extern int loop_count;
@@ -155,6 +165,11 @@
 extern void getHilGPSval();
 extern float randn();
 
+//autopilot.cpp
+extern void level_flight();
+extern void point_guide();
+extern void turning();
+
 // servo.cpp
 extern void calcServoOut();