Diff: global.hpp

Revision:

76:7fd3ac1afe3e

Parent:

73:84ffa0166e6c

Child:

77:2bf856e3eca4

--- a/global.hpp	Tue Jul 20 11:57:05 2021 +0000
+++ b/global.hpp	Sat Aug 07 06:54:58 2021 +0000
@@ -13,7 +13,7 @@
 #include <cmath>
 #include "UsaPack.hpp"
 #include "Vector3.hpp"
-#include "errStateEKF.hpp"
+#include "ScErrStateEKF.hpp"
 #include "MedianFilter.hpp"
 #include "Joystick.h"
 
@@ -37,6 +37,9 @@
     int16_t accData[3];
     int16_t gyroData[3];
     int16_t magData[3];
+    int16_t actData[4];
+    int16_t commandIndex;
+    float commandVal;
 };
 
 // var
@@ -44,6 +47,7 @@
 // communication
 extern I2C i2c;  // sda, scl
 extern UsaPack pc; // log - tail
+extern Serial sd;
 
 // sensor
 extern MPU6050 accelgyro;
@@ -63,7 +67,8 @@
 extern PID pitchratePID;//rad/s
 extern PID rollPID;
 extern PID rollratePID;//rad/s
-extern errStateEKF ekf; // EKF class
+extern ScErrStateEKF ekf; // EKF class
+extern int obsCount;
 
 extern float rc[16];
 extern int loop_count;
@@ -100,6 +105,7 @@
 extern int agoffset[6];
 extern float magbiasMin[3];
 extern float magbiasMax[3];
+extern float magbias[4];
 extern float accMin[3];
 extern float accMax[3];
 
@@ -111,7 +117,9 @@
 
 // HIL
 extern bool hilFlag;
-
+extern bool serialControlSource;
+extern bool serialParamSource;
+extern int checkParamSerial[5];
 // function
 
 // main.cpp