Diff: Headers/data_structs.h

Revision:

1:d8c9f6b16279

Parent:

0:a479dc61e931

Child:

2:e7874762cc25

diff -r a479dc61e931 -r d8c9f6b16279 Headers/data_structs.h
--- a/Headers/data_structs.h	Wed Oct 02 15:31:12 2019 +0000
+++ b/Headers/data_structs.h	Wed Oct 09 13:47:43 2019 +0000
@@ -1,22 +1,24 @@
+#ifndef DATA_STRUCTS_H_
+#define DATA_STRUCTS_H_
+
+
 typedef struct{
-    float P_Roll;
-    float P_Pitch;
-    float P_Yaw;
-    }ATT_Cntrl;
-    
-    
-typedef struct{
-    float sens_gyr[3];
+    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];
-    float est_XYZ[3];
-    float est_VXYZ[3];
+    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
     
-