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:
- 107:46e039e12182
- Parent:
- 104:20b8caa29185
diff -r 57a9dfeced15 -r 46e039e12182 global.hpp --- a/global.hpp Wed Nov 10 06:35:10 2021 +0000 +++ b/global.hpp Fri Nov 12 09:04:59 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 @@ -100,6 +102,13 @@ extern int itow_posllh; extern bool gpsUpdateFlag; +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 de; extern float da; extern float dT; @@ -133,6 +142,10 @@ extern bool serialControlSource; extern bool serialParamSource; extern int checkParamSerial[5]; + +//Autopilot +extern Autopilot autopilot; + // function // main.cpp @@ -155,6 +168,11 @@ extern void getHilGPSval(); extern float randn(); +//autopilot.cpp +extern void level_flight(); +extern void point_guide(); +extern void turning(); + // servo.cpp extern void calcServoOut();