branch for tests with T265
Dependencies: Lib_Cntrl AHRS Lib_Misc
Headers/data_structs.h@2:e7874762cc25, 2019-10-21 (annotated)
- Committer:
- altb2
- Date:
- Mon Oct 21 17:16:11 2019 +0000
- Revision:
- 2:e7874762cc25
- Parent:
- 1:d8c9f6b16279
- Child:
- 3:bc24fee36ba3
Added additional Ekfs, tested AltHold (still some bugs, Problems at high Lift Rates)
Who changed what in which revision?
User | Revision | Line number | New 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 | 0:a479dc61e931 | 9 | float sens_Lidar[4]; |
altb2 | 2:e7874762cc25 | 10 | float sens_OF[6]; |
altb2 | 1:d8c9f6b16279 | 11 | float est_RPY[3]; // estimation RPY |
altb2 | 1:d8c9f6b16279 | 12 | float est_xyz[3]; |
altb2 | 1:d8c9f6b16279 | 13 | float est_Vxyz[3]; |
altb2 | 2:e7874762cc25 | 14 | float est_RP_RPY[5]; |
altb2 | 0:a479dc61e931 | 15 | float cntrl_rate_rpy_des[3]; |
altb2 | 0:a479dc61e931 | 16 | float cntrl_att_rpy_des[3]; |
altb2 | 0:a479dc61e931 | 17 | float cntrl_vel_xyz_des[3]; |
altb2 | 0:a479dc61e931 | 18 | float cntrl_pos_xyz_des[3]; |
altb2 | 1:d8c9f6b16279 | 19 | float cntrl_Mxyz[3]; // desired torques |
altb2 | 1:d8c9f6b16279 | 20 | float wMot[4]; // desired speeds (rad/s) |
altb2 | 1:d8c9f6b16279 | 21 | float F_Thrust; // desired thrust |
altb2 | 1:d8c9f6b16279 | 22 | float sm_FM; // state machine Flight mode |
altb2 | 0:a479dc61e931 | 23 | }DATA_Xchange; |
altb2 | 1:d8c9f6b16279 | 24 | #endif |
altb2 | 0:a479dc61e931 | 25 |