Diff: global.hpp

Revision:

68:b9f6938fab9d

Parent:

67:41fcdfb7cc5a

Child:

70:99f974d8960e

--- a/global.hpp	Tue Jun 22 02:45:43 2021 +0000
+++ b/global.hpp	Mon Jun 28 01:40:26 2021 +0000
@@ -19,8 +19,8 @@
 #define M_PI 3.141592f
 #define ACCEL_FSR MPU6050_ACCEL_FS_8
 #define ACCEL_SSF 4096.0f
-#define GYRO_FSR MPU6050_GYRO_FS_250
-#define GYRO_SSF 131.0f
+#define GYRO_FSR MPU6050_GYRO_FS_500
+#define GYRO_SSF 65.5f
 #define MPU6050_LPF MPU6050_DLPF_BW_256
 #define PID_dt 0.015f
 #define servoPwmMax  1800.0f
@@ -32,10 +32,10 @@
 {
     float dt;
     int count;
-    float acc[3];
-    float gyro[3];
-    float mag[3];
-    float rpy[3];
+    float acc_vp[3];
+    float gyro_vp[3];
+    float mag_vp[3];
+    float rpy_vp[3];
 };
 
 // var
@@ -72,6 +72,7 @@
 extern Vector3 rpy; // x:roll  y:pitch  z:yaw
 extern Vector3 acc;
 extern Vector3 accref;
+extern Vector3 dynacc;
 extern Vector3 mag;
 extern Vector3 magref;
 extern Vector3 gyro;