Diff: quadcopter.h

Revision:

32:e12b01c94b4a

Parent:

31:d473eacfc271

Child:

34:eaea0ae92dfa

--- a/quadcopter.h	Thu Apr 21 20:57:19 2016 +0000
+++ b/quadcopter.h	Fri Apr 22 00:52:32 2016 +0000
@@ -6,6 +6,8 @@
 #include "Serial_base.h"
 #include "MRF24J40.h"
 
+#define FILTER_SIZE 3
+
 // a few struct declarations. Can possibly eliminated using the vector class in STL
 struct state {
     double phi; // roll
@@ -16,6 +18,15 @@
     double r; // omega z
 };
 
+struct filter {
+    double phi[FILTER_SIZE]; // roll
+    double theta[FILTER_SIZE]; // pitch
+    double psi[FILTER_SIZE]; // yaw
+    double p[FILTER_SIZE]; // omega x
+    double q[FILTER_SIZE]; // omega y
+    double r[FILTER_SIZE]; // omega z
+};
+
 struct controlInput {
     double f;
     double mx;
@@ -51,6 +62,7 @@
     int rcLength_;
     Timer rcTimer_;
 
+    filter filters_;
     state state_;
     state desiredState_;
     double F_des_; // desired thrust force (excluding weight compensation)