altb_pmic / Mbed OS IndNav_QK3_T265

branch for tests with T265

Dependencies:   Lib_Cntrl AHRS Lib_Misc

Headers/data_structs.h

Committer:
altb2
Date:
2019-10-09
Revision:
1:d8c9f6b16279
Parent:
0:a479dc61e931
Child:
2:e7874762cc25

File content as of revision 1:d8c9f6b16279:

#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_Lidar[4];
    float sens_OF[4];
    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