branch for tests with T265
Dependencies: Lib_Cntrl AHRS Lib_Misc
Diff: Headers/data_structs.h
- Revision:
- 1:d8c9f6b16279
- Parent:
- 0:a479dc61e931
- Child:
- 2:e7874762cc25
--- a/Headers/data_structs.h Wed Oct 02 15:31:12 2019 +0000 +++ b/Headers/data_structs.h Wed Oct 09 13:47:43 2019 +0000 @@ -1,22 +1,24 @@ +#ifndef DATA_STRUCTS_H_ +#define DATA_STRUCTS_H_ + + typedef struct{ - float P_Roll; - float P_Pitch; - float P_Yaw; - }ATT_Cntrl; - - -typedef struct{ - float sens_gyr[3]; + float sens_gyr[3]; // Sensor data float sens_acc[3]; + float sens_mag[3]; float sens_Lidar[4]; float sens_OF[4]; - float est_RPY[3]; - float est_XYZ[3]; - float est_VXYZ[3]; + float est_RPY[3]; // estimation RPY + float est_xyz[3]; + float est_Vxyz[3]; float cntrl_rate_rpy_des[3]; float cntrl_att_rpy_des[3]; float cntrl_vel_xyz_des[3]; float cntrl_pos_xyz_des[3]; + float cntrl_Mxyz[3]; // desired torques + float wMot[4]; // desired speeds (rad/s) + float F_Thrust; // desired thrust + float sm_FM; // state machine Flight mode }DATA_Xchange; +#endif -