Diff: SystemState.h

Revision:

1:cb84b477886c

Parent:

0:a6a169de725f

Child:

3:42f3821c4e54

--- a/SystemState.h	Mon May 27 13:26:03 2013 +0000
+++ b/SystemState.h	Tue May 28 13:58:35 2013 +0000
@@ -1,7 +1,7 @@
 #ifndef _SYSTEMSTATE_H
 #define _SYSTEMSTATE_H
 
-#define SSBUF 0x2F
+#define SSBUF 0x3F   // 0b0000 0011 1111 1111
 
 /** System State is the main mechanism for communicating current realtime system state to
  * the rest of the system for logging, data display, etc.
@@ -36,7 +36,8 @@
  * rrEncSpeed           right rear encoder speed
  * encHeading           estimated heading based on encoder readings
  ****** Estimated Position and Heading
- * estHeading           estimated heading in degrees, this is the robot's reference for heading
+ * estLagHeading        estimated heading in degrees, lagged to sync with gps
+ * estHeading           estimated current heading
  * estLatitude          estimated latitude in fractional degrees (e.g., 39.123456)
  * estLongitude         estimated longitude in fractional degrees (e.g., -104.123456)
  * estNorthing          some algorithms use UTM.  Estimated UTM northing
@@ -66,18 +67,11 @@
     float gpsSpeed_mps;
     float gpsHDOP;
     int gpsSats;
-
-    double gpsLatitude2;
-    double gpsLongitude2;
-    float gpsCourse_deg2;
-    float gpsSpeed_mps2;
-    float gpsHDOP2;
-    int gpsSats2;
-
     float lrEncDistance, rrEncDistance;
     float lrEncSpeed, rrEncSpeed;
     float encHeading;
     float estHeading;
+    float estLagHeading;
     double estLatitude, estLongitude;
     //double estNorthing, estEasting;
     float estX, estY;
@@ -86,10 +80,7 @@
     float distance;
     float gbias;
     float errAngle;
-    float leftRanger;
-    float rightRanger;
-    float centerRanger;
-    float crossTrackErr;
+    float steerAngle;
 } SystemState;
 
 #endif
\ No newline at end of file