branch for tests with T265
Dependencies: Lib_Cntrl AHRS Lib_Misc
Headers/data_structs.h
- Committer:
- altb2
- Date:
- 2019-10-28
- Revision:
- 3:bc24fee36ba3
- Parent:
- 2:e7874762cc25
File content as of revision 3:bc24fee36ba3:
#ifndef DATA_STRUCTS_H_ #define DATA_STRUCTS_H_ typedef struct{ float sens_gyr[3]; // Sensor data float sens_acc[3]; float sens_mag[3]; float sens_mag_raw[3]; float sens_Lidar[4]; float sens_OF[6]; float est_RPY[3]; // estimation RPY float est_xyz[3]; float est_Vxyz[3]; float est_RP_RPY[5]; 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