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declarations.h
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declarations.h
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signed int ACCEL_XOUT = 0;
signed int ACCEL_YOUT = 0;
signed int ACCEL_ZOUT = 0;
float GYRO_XRATE = 0;
float GYRO_YRATE = 0;
float GYRO_ZRATE = 0;
int GYRO_XRATERAW = 0;
int GYRO_YRATERAW = 0;
int GYRO_ZRATERAW = 0;
unsigned char GYRO_XOUT_L = ' ';
unsigned char GYRO_XOUT_H = ' ';
unsigned char GYRO_YOUT_L = ' ';
unsigned char GYRO_YOUT_H = ' ';
unsigned char GYRO_ZOUT_L = ' ';
unsigned char GYRO_ZOUT_H = ' ';
signed int GYRO_XOUT = 0;
signed int GYRO_YOUT = 0;
signed int GYRO_ZOUT = 0;
unsigned char ACCEL_XOUT_L = ' ';
unsigned char ACCEL_XOUT_H = ' ';
unsigned char ACCEL_YOUT_L = ' ';
unsigned char ACCEL_YOUT_H = ' ';
unsigned char ACCEL_ZOUT_L = ' ';
unsigned char ACCEL_ZOUT_H = ' ';
signed long GYRO_XOUT_OFFSET_1000SUM = 0;
signed long GYRO_YOUT_OFFSET_1000SUM = 0;
signed long GYRO_ZOUT_OFFSET_1000SUM = 0;
float GYRO_XANGLE = 0;
float GYRO_YANGLE = 0;
float GYRO_ZANGLE = 0;
long GYRO_XANGLERAW = 0;
long GYRO_YANGLERAW = 0;
long GYRO_ZANGLERAW = 0;
float ACCEL_XANGLE = 0;
float ACCEL_YANGLE = 0;
float ACCEL_ZANGLE = 0;
float KALMAN_XANGLE = 0;
float KALMAN_YANGLE = 0;
float KALMAN_ZANGLE = 0;
signed int GYRO_XOUT_OFFSET = -84;
signed int GYRO_YOUT_OFFSET = -12;
signed int GYRO_ZOUT_OFFSET = -3;
float COMPLEMENTARY_XANGLE = 0;
float COMPLEMENTARY_YANGLE = 0;
float TARGET_XANGLE = 0;
float TARGET_YANGLE = 0;
float TARGET_ZRATE = 0;
float PID_XOUTPUT = 0;
float PID_YOUTPUT = 0;
float PID_ZOUTPUT = 0;
float KP = 26.0; //25 27/6/12
float KI = 200.0; //85 5/6/12
float KD = 7; //7 27/6/12
float ZKP = 40.0; //40 8/6/12
float ZKD = 25.0; //25 8/6/12
float XERROR = 0;
float YERROR = 0;
float ZERROR = 0;
float throttle = 0;
float OC1_output = 0.0;
float OC2_output = 0.0;
float OC3_output = 0.0;
float OC4_output = 0.0;
int count = 0;
float XINTEGRAL = 0;
float YINTEGRAL = 0;
int throttle_input = 0;
int yaw_input = 0;
int pitch_input = 0;
int roll_input = 0;