Diff: global.hpp

Revision:

73:84ffa0166e6c

Parent:

70:99f974d8960e

Child:

76:7fd3ac1afe3e

--- a/global.hpp	Wed Jun 30 01:16:21 2021 +0000
+++ b/global.hpp	Thu Jul 15 05:26:15 2021 +0000
@@ -15,6 +15,7 @@
 #include "Vector3.hpp"
 #include "errStateEKF.hpp"
 #include "MedianFilter.hpp"
+#include "Joystick.h"
 
 #define MPU6050_PWR_MGMT_1   0x6B
 #define MPU_ADDRESS  0x68
@@ -23,7 +24,8 @@
 #define ACCEL_SSF 4096.0f
 #define GYRO_FSR MPU6050_GYRO_FS_250
 #define GYRO_SSF 131.0f
-#define MPU6050_LPF MPU6050_DLPF_BW_256
+#define MPU6050_LPF MPU6050_DLPF_BW_42
+#define MPU6050_SAMPLERATE 0
 #define PID_dt 0.015f
 #define servoPwmMax  1800.0f
 #define servoPwmMin  1200.0f
@@ -32,12 +34,9 @@
 
 struct valuePack
 {
-    float dt;
-    int count;
-    float acc_vp[3];
-    float gyro_vp[3];
-    float mag_vp[3];
-    float rpy_vp[3];
+    int16_t accData[3];
+    int16_t gyroData[3];
+    int16_t magData[3];
 };
 
 // var
@@ -54,6 +53,7 @@
 // io
 extern DigitalIn userButton;
 extern SBUS sbus;
+extern Joystick joystick;
 
 // control
 extern FastPWM servoRight;
@@ -83,6 +83,9 @@
 extern Vector3 mag;
 extern Vector3 magref;
 extern Vector3 gyro;
+extern float de;
+extern float da;
+extern float dT;
 extern MedianFilter accMedian;
 extern MedianFilter gyroMedian;
 extern MedianFilter magMedian;
@@ -104,7 +107,10 @@
 
 
 //// UsaPack
-extern valuePack posValues;
+extern valuePack vp;
+
+// HIL
+extern bool hilFlag;
 
 // function
 
@@ -121,6 +127,10 @@
 // imu.cpp
 extern void getIMUval();
 
+// hil.cpp
+extern void getHILval();
+extern float randn();
+
 // servo.cpp
 extern void calcServoOut();