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:
- 109:eb255fc4462b
- Parent:
- 106:2d854e92cebb
- Child:
- 110:5bf69c7afdbf
diff -r 2d854e92cebb -r eb255fc4462b global.hpp --- 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();