| 81,13 → 81,13 |
|---|
| /* |
| * Rotation rates |
| */ |
| extern int16_t rate_PID[2], yawRate; |
| extern int16_t rate_PID[2], rate_ATT[2], yawRate; |
| extern int16_t differential[2]; |
| |
| /* |
| * Attitudes calculated by numerical integration of gyro rates |
| */ |
| extern int32_t angle[2], yawAngle; |
| extern int32_t angle[2], yawAngleDiff; |
| |
| // extern volatile int32_t ReadingIntegralTop; // calculated in analog.c |
| |
| 103,6 → 103,8 |
|---|
| extern uint16_t updateCompassCourse; |
| extern uint16_t badCompassHeading; |
| |
| void updateCompass(void); |
| |
| /* |
| * Interval wrap-over values for attitude integrals |
| */ |
| 124,6 → 126,11 |
|---|
| extern int16_t dynamicOffset[2], dynamicOffsetYaw; |
| |
| /* |
| * For NaviCtrl use. |
| */ |
| extern int16_t averageAcc[2], averageAccCount; |
| |
| /* |
| * Re-init flight attitude, setting all angles to 0 (or to whatever can be derived from acc. sensor). |
| * To be called when the pilot commands gyro calibration (eg. by moving the left stick up-left or up-right). |
| */ |
| 135,6 → 142,8 |
|---|
| // void attitude_startDynamicCalibration(void); |
| // void attitude_continueDynamicCalibration(void); |
| |
| int32_t getAngleEstimateFromAcc(uint8_t axis); |
| |
| /* |
| * Main routine, called from the flight loop. |
| */ |