Diff: global.hpp

Revision:

133:346ce20b3950

Parent:

132:896ad37b534b

Child:

134:d57c6b2a706b

--- a/global.hpp	Mon Nov 29 13:13:34 2021 +0000
+++ b/global.hpp	Tue Nov 30 07:58:46 2021 +0000
@@ -50,14 +50,32 @@
     float rpy[3];
     float vihat[3];
 };
+struct logPack
+{
+    float time;
+    float hertz;
+    float da;
+    float de;
+    float dT;
+    float rpy[3];
+    float pihat[3];
+    float vihat[3];
+    float pi[3];
+    float vi[3];
+    float palt;
+    float acc[3];
+    float gyro[3];
+    float mag[3];
+    float rc[16];
+};
 
 // var
 
 // communication
 
 extern UsaPack pc; // log - tail
-extern Serial sd;
-extern Serial twelite;
+extern UsaPack sd;
+extern UsaPack twelite;
 
 // io
 extern DigitalIn userButton;
@@ -93,6 +111,7 @@
 // position
 extern Matrix SensorAlignmentAG;
 extern Matrix SensorAlignmentMAG; 
+extern Matrix euler;
 extern Vector3 rpy; // x:roll  y:pitch  z:yaw
 extern Vector3 acc;
 extern Vector3 accref;
@@ -136,6 +155,7 @@
 //// UsaPack
 extern valuePack vp;
 extern sendPack sp;
+extern logPack lp;
 
 // HIL
 extern bool hilFlag;