From 49ed34fd7b180c0fc0a8fa484761306738fc1295 Mon Sep 17 00:00:00 2001 From: Oleg Semyonov Date: Sun, 17 Mar 2013 13:17:48 +0200 Subject: [PATCH] insgps: move definition of NavStruct variable from header to source file --- flight/Libraries/inc/insgps.h | 2 +- flight/Libraries/insgps13state.c | 3 +++ 2 files changed, 4 insertions(+), 1 deletion(-) diff --git a/flight/Libraries/inc/insgps.h b/flight/Libraries/inc/insgps.h index 1ff6c4de7..562937c75 100644 --- a/flight/Libraries/inc/insgps.h +++ b/flight/Libraries/inc/insgps.h @@ -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 diff --git a/flight/Libraries/insgps13state.c b/flight/Libraries/insgps13state.c index 8748ef4c9..051338572 100644 --- a/flight/Libraries/insgps13state.c +++ b/flight/Libraries/insgps13state.c @@ -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 **************** // *************************************************