a
Dependencies: mbed
Global_Variables/Global_Variables.h
- Committer:
- halusis
- Date:
- 2018-05-24
- Revision:
- 0:f0b20f502059
File content as of revision 0:f0b20f502059:
#ifndef GLOBAL_VARIABLES_H #define GLOBAL_VARIABLES_H #include "mbed.h" #define ANGLE_UNIT 0.02197265625f // degree #define SPEED_UNIT 0.1220740379f // degree/sec #define IdlePWM 1500 #define dt 0.2f #define KdY -24.0f #define KiY -8.0f #define KpY -8.0f #define KdP -24.0f #define KiP -8.0f #define KpP -8.0f #define YawLim 100.0f #define PitchLim 100.0f extern int16_t YawIMU, PitchIMU, RollIMU, YawTarIMU, PitchTarIMU, RollTarIMU; extern int32_t YawIMU2, PitchIMU2, RollIMU2; extern uint16_t YawTarPWM, PitchTarPWM; extern double YawDeg, PitchDeg, RollDeg, YawTar, PitchTar, RollTar, RollRel, PitchRel, YawRel; extern uint8_t GimbalBuf[100], GimbalCnt, HeadChks, BodyChks; extern bool fGET_ANGLE; extern double ErrorY, ErrorYI, YawI, prevErrorY, YawPWM, YawT; extern double ErrorP, ErrorPI, PitchI, prevErrorP, PitchPWM, PitchT; extern uint8_t RFBuf[100], RFCnt, RFHeadChks, RFBodyChks; extern int16_t rV1, rV2, rV3, rV4, rEle, rAzi, rEle_raw, rAzi_raw, rEle_Offset, rAzi_Offset; extern float V1, V2, V3, V4, Ele, Azi, Ele_raw, Azi_raw, Ele_Offset, Azi_Offset; extern uint8_t Pckt[100],fRFread; //PPM Vars extern uint16_t YawPPM, PitchPPM, LockPPM; extern float YawDegCMD, PitchDegCMD; extern uint8_t fLock; //pc input cmd extern char pcPckt[50], pcCnt, pcBuf,fpc; #endif