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:
- 92:00460f6df439
- Parent:
- 90:96c2b0ed4b96
- Child:
- 93:b827f78a717a
diff -r 256f7c1c1297 -r 00460f6df439 global.hpp --- a/global.hpp Tue Oct 26 05:37:25 2021 +0000 +++ b/global.hpp Thu Oct 28 09:44:47 2021 +0000 @@ -32,6 +32,7 @@ int16_t gyroData[3]; int16_t magData[3]; int16_t viData[3]; + int16_t piData[3]; int16_t actData[4]; int16_t commandIndex; int16_t commandVal; @@ -43,9 +44,7 @@ float de; float dT; float rpy[3]; - float vi[3]; float vihat[3]; - float accBias[3]; }; // var @@ -87,6 +86,8 @@ extern Vector3 magref; extern Vector3 gyro; extern Vector3 vi; +extern Vector3 pi; +extern float palt; extern float de; extern float da; @@ -135,7 +136,8 @@ extern void getIMUval(); // hil.cpp -extern void getHILval(); +extern void getHilIMUval(); +extern void getHilGPSval(); extern float randn(); // servo.cpp