29 lines
566 B
C
29 lines
566 B
C
#pragma once
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#ifdef PS
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#undef PS
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#endif
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#ifdef F
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#undef F
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#endif
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#include <Eigen/Dense>
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#include "drone_comms.h"
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#include "drone_controller.h"
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void setup_drone();
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inline dcont::Vec3C v3f_to_v3c(Eigen::Vector3f v) { return {v[0], v[1], v[2]}; }
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inline dcont::StackedController *drone_controller = nullptr;
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inline dcont::ModeInput current_input_mode = dcont::ModeInput::Acro;
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void drone_controller_task(void *params);
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void motor_throttles_task(void *params);
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inline float motor_throttles[4] = {0.05, 0.05, 0.05, 0.05};
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inline bool killswitch_active = false;
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