altb_pmic / Mbed OS IndNav_QK3_T265

branch for tests with T265

Dependencies:   Lib_Cntrl AHRS Lib_Misc

Headers/data_structs.h@3:bc24fee36ba3, 2019-10-28 (annotated)

Committer:
altb2
Date:
Mon Oct 28 07:54:10 2019 +0000
Revision:
3:bc24fee36ba3
Parent:
2:e7874762cc25 
- with complementFilter for Yaw (Magneteometer), Lidar, AltHold running, Flow sensor reading, control sth wrong, Yaw not tested in detail

Who changed what in which revision?

UserRevisionLine numberNew contents of line
altb2 1:d8c9f6b16279 1 #ifndef DATA_STRUCTS_H_
altb2 1:d8c9f6b16279 2 #define DATA_STRUCTS_H_
altb2 1:d8c9f6b16279 3
altb2 1:d8c9f6b16279 4
altb2 0:a479dc61e931 5 typedef struct{
altb2 1:d8c9f6b16279 6 float sens_gyr[3]; // Sensor data
altb2 0:a479dc61e931 7 float sens_acc[3];
altb2 1:d8c9f6b16279 8 float sens_mag[3];
altb2 3:bc24fee36ba3 9 float sens_mag_raw[3];
altb2 0:a479dc61e931 10 float sens_Lidar[4];
altb2 2:e7874762cc25 11 float sens_OF[6];
altb2 1:d8c9f6b16279 12 float est_RPY[3]; // estimation RPY
altb2 1:d8c9f6b16279 13 float est_xyz[3];
altb2 1:d8c9f6b16279 14 float est_Vxyz[3];
altb2 2:e7874762cc25 15 float est_RP_RPY[5];
altb2 0:a479dc61e931 16 float cntrl_rate_rpy_des[3];
altb2 0:a479dc61e931 17 float cntrl_att_rpy_des[3];
altb2 0:a479dc61e931 18 float cntrl_vel_xyz_des[3];
altb2 0:a479dc61e931 19 float cntrl_pos_xyz_des[3];
altb2 1:d8c9f6b16279 20 float cntrl_Mxyz[3]; // desired torques
altb2 1:d8c9f6b16279 21 float wMot[4]; // desired speeds (rad/s)
altb2 1:d8c9f6b16279 22 float F_Thrust; // desired thrust
altb2 1:d8c9f6b16279 23 float sm_FM; // state machine Flight mode
altb2 0:a479dc61e931 24 }DATA_Xchange;
altb2 1:d8c9f6b16279 25 #endif
altb2 0:a479dc61e931 26