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