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.hpp
- Revision:
- 139:b378528c05f2
- Parent:
- 137:240588882ae2
- Child:
- 140:53dbdb207542
--- a/global.hpp Wed Dec 01 19:17:36 2021 +0000 +++ b/global.hpp Mon Dec 06 08:26:16 2021 +0000 @@ -9,8 +9,6 @@ #include <cmath> #include "UsaPack.hpp" #include "Vector3.hpp" -#include "Matrix.h" -#include "MatrixMath.h" #include "LSM9DS1.h" #include "LPS.h" #include "CalibrateMagneto.h" @@ -19,8 +17,12 @@ #include "GPSUBX_UART.hpp" #include "Autopilot.hpp" +// Eigen +#include <Eigen/Dense.h> +//using namespace std; +using namespace Eigen; + #define magresThreshold 0.025f -#define M_PI 3.141592f #define ACCEL_SSF 4096.0f #define GYRO_SSF 131.0f #define PID_dt 0.015f @@ -29,6 +31,9 @@ #define motorPwmMax 2000.0f #define motorPwmMin 1100.0f +#ifndef M_PI_F +#define M_PI_F 3.141592f +#endif struct valuePack { @@ -107,9 +112,9 @@ extern PID pitchratePID;//rad/s extern PID rollPID; extern PID rollratePID;//rad/s -extern solaESKF eskf; // EKF class +//extern solaESKF eskf; // EKF class extern int obsCount; -extern Autopilot autopilot; +//extern Autopilot autopilot; extern float roll_obj; extern float pitch_obj; extern float dT_obj; @@ -121,17 +126,17 @@ // 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; -extern Vector3 mag; -extern Vector3 magref; -extern Vector3 gyro; -extern Vector3 vi; -extern Vector3 pi; +extern Matrix3f SensorAlignmentAG; +extern Matrix3f SensorAlignmentMAG; +extern Vector3f euler; +extern Vector3f rpy; // x:roll y:pitch z:yaw +extern Vector3f acc; +extern Vector3f accref; +extern Vector3f mag; +extern Vector3f magref; +extern Vector3f gyro; +extern Vector3f vi; +extern Vector3f pi; extern float palt; extern float palt0; extern float dynaccnorm2; @@ -161,7 +166,7 @@ extern float accMin[3]; extern float accMax[3]; -extern Vector3 rpy_align; +extern Vector3f rpy_align; //// UsaPack @@ -202,7 +207,7 @@ extern void point_guide(); extern void turning(); extern void climb(); -extern Vector3 calc_vdot(); +extern Vector3f calc_vdot(); // servo.cpp extern void calcServoOut(); @@ -214,6 +219,6 @@ // global.cpp extern float mapfloat(float x, float in_min, float in_max, float out_min, float out_max); -extern void setDiag(Matrix& mat, float val); -extern void setBlockDiag(Matrix& mat, float val,int startIndex, int endIndex); +extern void setDiag(Matrix3f& mat, float val); +extern void setBlockDiag(Matrix3f& mat, float val,int startIndex, int endIndex); #endif \ No newline at end of file