Diff: global.hpp

Revision:

132:896ad37b534b

Parent:

129:a76be8380bb2

Child:

133:346ce20b3950

--- a/global.hpp	Mon Nov 29 09:45:44 2021 +0000
+++ b/global.hpp	Tue Nov 30 07:11:16 2021 +0000
@@ -50,13 +50,31 @@
     float rpy[3];
     float vihat[3];
 };
+struct logPack
+{
+    float time;
+    float hertz;
+    float da;
+    float de;
+    float dT;
+    float rc[16];
+    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];
+};
 
 // var
 
 // communication
 
 extern UsaPack pc; // log - tail
-extern Serial sd;
+extern UsaPack sd;
 extern Serial twelite;
 
 // io
@@ -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;