File content as of revision 104:20b8caa29185:

#include "global.hpp"


// var

// communication
UsaPack pc(USBTX, USBRX, 115200); // log - tail
Serial sd(PG_14,PG_9);
Serial twelite(PD_1,PD_0);

// io
DigitalIn userButton(USER_BUTTON);
SBUS sbus(PD_5, PD_6);
I2C i2c(PB_9, PB_8);
LSM9DS1 lsm(i2c);
LPS lps(i2c);
GPSUBX_UART gps(PF_7, PE_7);
MagSphereCalibration magCalibrator;
float magres = 0.0f;
// control
Timer _t;
FastPWM servoRight(PE_9);
FastPWM servoLeft(PE_11);
FastPWM servoThrust(PE_13);
PID pitchPID(10.0f,0.0f,0.0f,PID_dt); //rad
PID pitchratePID(1.0f, 0.0f, 0.0f, PID_dt);//rad/s
PID rollPID(5.0f,0.0f,0.0f,PID_dt);
PID rollratePID(0.05f, 0.0, 0.0, PID_dt);//rad/s
solaESKF eskf; // ESKF class
int obsCount = 0;

float rc[16];
int loop_count = 0;
float att_dt = 0.01f;

// position
Matrix SensorAlignment(3,3); 
Vector3 rpy(0.0f, 0.0f, 0.0f); // x:roll  y:pitch  z:yaw
Vector3 acc;
Vector3 accref(0.0f, 0.0f, 9.8f);
Vector3 mag;
Vector3 magref(0.0f, 0.0f, 0.0f);
Vector3 gyro;
Vector3 vi;
Vector3 pi;
float palt;
float palt0;
int itow_velned;
int itow_posllh;
bool gpsUpdateFlag = false;

float de = 0.0f;
float da = 0.0f;
float dT = 0.0f;
MedianFilter accMedian(3);
MedianFilter gyroMedian(3);
MedianFilter magMedian(3);

float scaledServoOut[2]= {0.0f,0.0f};
float scaledMotorOut[1]= {-1.0f};
float servoOut[2] = {1500.0f,1500.0f};
float motorOut[1] = {1100.0f};

int calibrationFlag = 0;
float agoffset[6] = {0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f};

float magbias[4] = {-134.817047, 127.833481, -152.631836, 44.508556};
float magbiasMin[3] = {-174.831711, 93.465691, -188.617172};
float magbiasMax[3] = {-110.413963, 162.321548, -122.566071};
float accMin[3] = {-0.963692, -0.974141, -1.012899};
float accMax[3] = { 1.025954, 0.974748, 0.987155};

Vector3 rpy_align( 0.0f*M_PI/180.0f, 0.0f*M_PI/180.0f, 0.0f*M_PI/180.0f);


// UsaPack
valuePack vp;
sendPack sp;

// HIL
bool hilFlag = false;
bool serialControlSource = false;
bool serialParamSource = false;
int checkParamSerial[5] = {0,0,0,0,0};

float mapfloat(float x, float in_min, float in_max, float out_min, float out_max)
{
    return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
}

void setDiag(Matrix& mat, float val){
    for (int i = 1; i < mat.getCols()+1; i++){
            mat(i,i) = val;
    }
}

void setBlockDiag(Matrix& mat, float val,int startIndex, int endIndex){
    for (int i = startIndex; i < endIndex+1; i++){
            mat(i,i) = val;
    }
}