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Code Issues Releases Activity

insgps: move definition of NavStruct variable from header to source file

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This commit is contained in:
Oleg Semyonov 2013-03-17 13:17:48 +02:00
parent 9bcbcbeb34
commit 49ed34fd7b
2 changed files with 4 additions and 1 deletions
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2
flight/Libraries/inc/insgps.h
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@ -80,7 +80,7 @@ void VelBaroCorrection(float Vel[3], float BaroAlt);
uint16_t ins_get_num_states();
// Nav structure containing current solution
struct NavStruct {
extern struct NavStruct {
float Pos[3]; // Position in meters and relative to a local NED frame
float Vel[3]; // Velocity in meters and in NED
float q[4]; // unit quaternion rotation relative to NED

3
flight/Libraries/insgps13state.c
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@ -66,6 +66,9 @@ float P[NUMX][NUMX], X[NUMX]; // covariance matrix and state vector
float Q[NUMW], R[NUMV]; // input noise and measurement noise variances
float K[NUMX][NUMV]; // feedback gain matrix
// Global variables
struct NavStruct Nav;
// ************* Exposed Functions ****************
// *************************************************