File content as of revision 143:53808e4e684c:

#include "global.hpp"


// var

// communication
UsaPack pc(USBTX, USBRX, 115200); // log - tail
UsaPack sd(PG_14,PG_9, 115200);
UsaPack twelite(PD_1,PD_0,38400);
// 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);
CalibrateMagneto 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
PID yawratePID(2.0f, 0.0, 0.0, PID_dt);//rad/s
PID climbratePID(1.0f, 0.0, 0.0, PID_dt);//rad/s
solaESKF eskf; // ESKF class
Autopilot autopilot;
float roll_obj;
float pitch_obj;
float dT_obj;

float rc[16];
int loop_count = 0;
float att_dt = 0.01f;
// position
Matrix3f SensorAlignmentAG;
Matrix3f SensorAlignmentMAG;
Vector3f euler;
Vector3f acc;
Vector3f mag;
Vector3f magref(0.0f, 0.0f, 0.0f);
Vector3f gyro;
Vector3f vi;
Vector3f pi;
float palt;
float palt0;
float dynaccnorm2;
int itow_status = 0;
bool gpsUpdateFlag = false;
bool gpsLlh0Fixed = false;
bool headingUpdateFlag = false;
bool hinf_flag = false;

float de = 0.0f;
float da = 0.0f;
float dT = 0.0f;

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};


// UsaPack
valuePack vp;
sendPack sp;
logPack lp;
telemetryPack tp;

// HIL
bool hilFlag = true;
int16_t hilDataOut = 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(Matrix3f& mat, float val){
    for (int i = 0; i < mat.cols(); i++){
            for (int j = 0; j < mat.rows(); j++){
                mat(i,j) = 0.0f;
            }
    }
    for (int i = 0; i < mat.cols(); i++){
            mat(i,i) = val;
    }
}

void setDiag(MatrixXf& mat, float val){
    for (int i = 0; i < mat.cols(); i++){
        for (int j = 0; j < mat.rows(); j++){
            mat(i,j) = 0.0f;
        }
    }
    for (int i = 0; i < mat.cols(); i++)
    {
        mat(i, i) = val;
    }
}

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