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Lander-Embedded/include/sVars.h
2021-09-13 09:09:46 -07:00

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917 B
C++

#include <array>
#ifndef SVARS_H
#define SVARS_H
struct sVars {
float x, y, z;
float xPrev, yPrev, zPrev;
float vx, vy, vz;
float vxPrev, vyPrev, vzPrev;
float vxBody, vyBody, vzBody;
float ax, ay, az, axPrev, ayPrev, azPrev;
float yaw, pitch, roll;
float phidot, thetadot, psidot;
float yawPrev, pitchPrev, rollPrev;
float yawdot, pitchdot, rolldot;
float yawdotPrev, pitchdotPrev, rolldotPrev;
float yawddot, pitchddot, rollddot;
float yawddotPrev, pitchddotPrev, rollddotPrev;
float m, m0, mp, mb, mdot;
float vehicleHeight, vehicleRadius, momentArm;
float tb;
float vb;
float thrust, thrust_prev, burnElapsed, burnStart;
float LQRx, LQRy, Fx, Fy, Fz;
float momentX, momentY, momentZ;
float I11, I22, I33;
float I11prev, I22prev, I33prev;
float I11dot, I22dot, I33dot;
int maxServo;
float xServoDegs, yServoDegs;
float simTime;
int stepSize;
};
#endif