Rev 2099 | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 2099 | Rev 2141 | ||
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| 6 | #define _ATTITUDE_H |
6 | #define _ATTITUDE_H |
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| 7 | 7 | ||
| Line 8... | Line 8... | ||
| 8 | #include <inttypes.h> |
8 | #include <inttypes.h> |
| - | 9 | ||
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| 9 | 10 | #include "analog.h" |
|
| 10 | #include "analog.h" |
11 | #include "timer0.h" |
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| 11 | 12 | ||
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| 19 | //#define ATTITUDE_USE_ACC_SENSORS yes |
20 | //#define ATTITUDE_USE_ACC_SENSORS yes |
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| 20 | 21 | ||
| 21 | /* |
22 | /* |
| 22 | * The frequency at which numerical integration takes place. 488 in original code. |
23 | * The frequency at which numerical integration takes place. 488 in original code. |
| 23 | */ |
24 | */ |
| Line 24... | Line 25... | ||
| 24 | #define INTEGRATION_FREQUENCY 488 |
25 | #define INTEGRATION_FREQUENCY (uint16_t)(F_MAINLOOP) |
| 25 | 26 | ||
| 26 | /* |
27 | /* |
| 27 | * Constant for deriving an attitude angle from acceleration measurement. |
28 | * Constant for deriving an attitude angle from acceleration measurement. |
| Line 60... | Line 61... | ||
| 60 | * value for the same (small) angle. |
61 | * value for the same (small) angle. |
| 61 | * The value is about 200. |
62 | * The value is about 200. |
| 62 | */ |
63 | */ |
| 63 | //#define GYRO_ACC_FACTOR ((GYRO_DEG_FACTOR_PITCHROLL) / (DEG_ACC_FACTOR)) |
64 | //#define GYRO_ACC_FACTOR ((GYRO_DEG_FACTOR_PITCHROLL) / (DEG_ACC_FACTOR)) |
| Line 64... | Line 65... | ||
| 64 | 65 | ||
| 65 | #define OVER180 ((int32_t)GYRO_DEG_FACTOR * 180) |
66 | #define OVER180 ((int32_t)(GYRO_DEG_FACTOR * 180.0f)) |
| Line 66... | Line 67... | ||
| 66 | #define OVER360 ((int32_t)GYRO_DEG_FACTOR * 360) |
67 | #define OVER360 ((int32_t)(GYRO_DEG_FACTOR * 360.0f)) |
| 67 | 68 | ||
| 68 | /* |
69 | /* |
| 69 | * Rotation rates |
70 | * Rotation rates |