Ian Hua / Quadcopter-mbedRTOS

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RTOS-Setup/inc/setup.h@21:b642c18eccd1, 2014-05-08 (annotated)

Committer:
pHysiX
Date:
Thu May 08 09:39:12 2014 +0000
Revision:
21:b642c18eccd1
Parent:
20:b193a50a2ba3
Child:
22:ef8aa9728013
Primary PID disabled. Secondary (rate) PID enabled. P gain tuned

Who changed what in which revision?

UserRevisionLine numberNew contents of line
pHysiX 1:43f8ac7ca6d7 1 #include "mbed.h"
pHysiX 1:43f8ac7ca6d7 2 #include "MPU6050_6Axis_MotionApps20.h"
pHysiX 3:605fbcb54e75 3 #include "PID.h"
pHysiX 12:953d25061417 4 #include "MPL3115A2.h"
pHysiX 12:953d25061417 5
pHysiX 12:953d25061417 6 #ifdef ENABLE_COMPASS
pHysiX 12:953d25061417 7 #include "HMC5883L.h"
pHysiX 12:953d25061417 8 #endif
pHysiX 1:43f8ac7ca6d7 9
pHysiX 1:43f8ac7ca6d7 10 #ifndef _SETUP_H_
pHysiX 1:43f8ac7ca6d7 11 #define _SETUP_H_
pHysiX 1:43f8ac7ca6d7 12
pHysiX 20:b193a50a2ba3 13 extern float KP_YAW_RATE;
pHysiX 20:b193a50a2ba3 14 extern float KP_PITCH_RATE;
pHysiX 20:b193a50a2ba3 15 extern float KP_ROLL_RATE;
pHysiX 4:01921a136f58 16
pHysiX 21:b642c18eccd1 17 extern float PID_TI_RATE;
pHysiX 21:b642c18eccd1 18 extern float PID_TI_STABLE;
pHysiX 21:b642c18eccd1 19
pHysiX 14:267368c83b6a 20 #define ESC_FREQUENCY 200
pHysiX 2:ab967d7b4346 21 #define ESC_PERIOD_US 1000000/ESC_FREQUENCY
pHysiX 2:ab967d7b4346 22
pHysiX 1:43f8ac7ca6d7 23 extern Serial BT;
pHysiX 1:43f8ac7ca6d7 24 extern DigitalOut BT_CMD;
pHysiX 1:43f8ac7ca6d7 25
pHysiX 1:43f8ac7ca6d7 26 extern MPU6050 imu;
pHysiX 1:43f8ac7ca6d7 27 extern uint16_t packetSize;
pHysiX 1:43f8ac7ca6d7 28
pHysiX 12:953d25061417 29 #ifdef ENABLE_COMPASS
pHysiX 12:953d25061417 30 extern HMC5883L compass;
pHysiX 12:953d25061417 31 #endif
pHysiX 12:953d25061417 32
pHysiX 12:953d25061417 33 extern MPL3115A2 altimeter;
pHysiX 12:953d25061417 34
pHysiX 3:605fbcb54e75 35 //extern DigitalOut LED[];
pHysiX 3:605fbcb54e75 36
pHysiX 21:b642c18eccd1 37 extern PID pitchPIDstable;
pHysiX 21:b642c18eccd1 38 extern PID rollPIDstable;
pHysiX 3:605fbcb54e75 39 extern PID yawPIDrate;
pHysiX 3:605fbcb54e75 40 extern PID pitchPIDrate;
pHysiX 3:605fbcb54e75 41 extern PID rollPIDrate;
pHysiX 1:43f8ac7ca6d7 42
pHysiX 3:605fbcb54e75 43 extern PwmOut ESC[4];
pHysiX 2:ab967d7b4346 44
pHysiX 3:605fbcb54e75 45 bool setupALLdevices(void);
pHysiX 2:ab967d7b4346 46 bool setup_ESC(void);
pHysiX 1:43f8ac7ca6d7 47 bool setup_bt(void);
pHysiX 3:605fbcb54e75 48 bool setup_PID(void);
pHysiX 1:43f8ac7ca6d7 49 bool setup_mpu6050(void);
pHysiX 12:953d25061417 50 #ifdef ENABLE_COMPASS
pHysiX 12:953d25061417 51 bool setup_compass(void);
pHysiX 12:953d25061417 52 #endif
pHysiX 12:953d25061417 53 bool setup_altimeter(void);
pHysiX 1:43f8ac7ca6d7 54
pHysiX 1:43f8ac7ca6d7 55 #endif