| 79,6 → 79,11 |
|---|
| */ |
| #define GYRO_ACC_FACTOR ((GYRO_DEG_FACTOR_PITCHROLL) / (DEG_ACC_FACTOR)) |
| |
| #define PITCHROLLOVER180 (GYRO_DEG_FACTOR_PITCHROLL * 180L) |
| #define PITCHROLLOVER360 (GYRO_DEG_FACTOR_PITCHROLL * 360L) |
| #define YAWOVER180 (GYRO_DEG_FACTOR_YAW * 180L) |
| #define YAWOVER360 (GYRO_DEG_FACTOR_YAW * 360L) |
| |
| /* |
| * Rotation rates |
| */ |
| 88,25 → 93,24 |
|---|
| /* |
| * Attitudes calculated by numerical integration of gyro rates |
| */ |
| extern int32_t angle[2], yawAngleDiff; |
| extern int32_t attitude[2]; |
| |
| // extern volatile int32_t ReadingIntegralTop; // calculated in analog.c |
| // This is really a flight module thing, but it should be corrected along |
| // when the yaw angle is corrected from the compass, and that happens here. |
| // extern int32_t yawAngleDiff; |
| |
| /* |
| * Compass navigation |
| */ |
| extern int16_t magneticHeading; |
| extern int16_t compassCourse; |
| // extern int16_t compassOffCourse; |
| extern uint8_t compassCalState; |
| extern int32_t yawGyroHeading; |
| extern int16_t yawGyroHeadingInDeg; |
| extern uint8_t updateCompassCourse; |
| //extern int16_t headingInDegrees; |
| extern int32_t heading; |
| extern uint16_t ignoreCompassTimer; |
| extern uint16_t accVector; |
| |
| void updateCompass(void); |
| extern int32_t targetHeading; |
| |
| |
| /* |
| * Dynamic gyro offsets. These are signed values that are subtracted from the gyro measurements, |
| * to help canceling out drift and vibration noise effects. The dynamic offsets themselves |
| 143,4 → 147,6 |
|---|
| */ |
| void calculateFlightAttitude(void); |
| |
| void attitude_resetHeadingToMagnetic(void); |
| |
| #endif //_ATTITUDE_H |