File content as of revision 68:b9f6938fab9d:

#include "global.hpp"


// var

// communication
I2C i2c(PB_9,PB_8);  // sda, scl
UsaPack pc(USBTX, USBRX, 57600); // log - tail

// sensor
MPU6050 accelgyro;
MAG3110 mag_sensor(PB_9,PB_8);
CalibrateMagneto magCalibrator;

// io
DigitalIn userButton(USER_BUTTON);
CalibrateMagneto joyCalibrator;
// control
FastPWM elevServo(PE_11);
FastPWM rudServo(PE_13);
PID pitchPID(5.0, 0,0, PID_dt); // rad
PID pitchratePID(0.5, 0.0, 0.0, PID_dt); // rad/s
errStateEKF ekf; // EKF class

int loop_count = 0;
float att_dt = 0.01f;

int16_t ax, ay, az;
int16_t gx, gy, gz;
MotionSensorDataUnits mdata;
float magval[3] = {1.0f, 0.0f, 0.0f};

// position
Vector3 rpy(0.0f, 0.0f, 0.0f); // x:roll  y:pitch  z:yaw
Vector3 acc;
Vector3 accref(0.0f, 0.0f, 0.98f);
Vector3 dynacc;
Vector3 mag;
Vector3 magref(0.65f, 0.0f, 0.75f);
Vector3 gyro;

float scaledServoOut[2] = {0.0f,0.0f};
float servoOut[2] = {1500.0f,1500.0f};

int calibrationFlag = 0;
int agoffset[6] = {0, 0, 0, -121, -12, 24};
float magbiasMin[3] = {-45.639572, -0.059049, -208.120300};
float magbiasMax[3] = {28.209938, 65.421822, -131.388748};

Vector3 rpy_align(-1.192014f*M_PI/180.0f, -2.639991f*M_PI/180.0f, 0.0f*M_PI/180.0f);


// UsaPack
valuePack posValues;

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;
}