Eigen Revision
Dependencies: mbed LPS25HB_I2C LSM9DS1 PIDcontroller Autopilot_Eigen LoopTicker GPSUBX_UART_Eigen SBUS_without_mainfile MedianFilter Eigen UsaPack solaESKF_Eigen Vector3 CalibrateMagneto FastPWM
Diff: global.cpp
- Revision:
- 107:46e039e12182
- Parent:
- 104:20b8caa29185
--- a/global.cpp Wed Nov 10 06:35:10 2021 +0000 +++ b/global.cpp Fri Nov 12 09:04:59 2021 +0000 @@ -28,6 +28,7 @@ PID rollratePID(0.05f, 0.0, 0.0, PID_dt);//rad/s solaESKF eskf; // ESKF class int obsCount = 0; +Autopilot autopilot; float rc[16]; int loop_count = 0; @@ -49,6 +50,13 @@ int itow_posllh; bool gpsUpdateFlag = false; +float roll_obj; +float pitch_obj; +float alt_obj; +std::vector<float> obj; +Vector3 destination(100.0f, 100.0f, 0.0f); +Vector3 turn_center(100.0f, 100.0f, 0.0f); +float turn_radius = 50.0f; float de = 0.0f; float da = 0.0f; float dT = 0.0f; @@ -73,6 +81,8 @@ Vector3 rpy_align( 0.0f*M_PI/180.0f, 0.0f*M_PI/180.0f, 0.0f*M_PI/180.0f); + + // UsaPack valuePack vp; sendPack sp;