altb_pmic / Mbed OS IndNav_QK3_T265

branch for tests with T265

Dependencies:   Lib_Cntrl AHRS Lib_Misc

Headers/data_structs.h@4:dc844fde64d7, 2019-11-22 (annotated)

Committer:
Kiwicjam
Date:
Fri Nov 22 08:40:26 2019 +0000
Revision:
4:dc844fde64d7
Parent:
3:bc24fee36ba3 
Workin set, not running,

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