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:
- 68:b9f6938fab9d
- Parent:
- 67:41fcdfb7cc5a
- Child:
- 70:99f974d8960e
diff -r 41fcdfb7cc5a -r b9f6938fab9d global.hpp --- 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;