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/*********************************************************************************/
/* Attitude sense system (processing of gyro, accelerometer and altimeter data) */
/*********************************************************************************/
#ifndef _ATTITUDE_H
#define _ATTITUDE_H
#include <inttypes.h>
#include <math.h>
#include "analog.h"
//#include "timer0.h"
//#define _PI 3.1415926535897932384626433832795
#define ACC_MS2_FACTOR (1.0f / ACC_G_FACTOR_XY)
// 57.3
#define RAD_DEG_FACTOR (180.0 / M_PI)
/*
* Attitudes calculated by numerical integration of gyro rates
*/
extern int16_t attitude[3];
/*
* 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).
*/
void attitude_setNeutral(void);
/*
* Main routine, called from the flight loop.
*/
void attitude_update(void);
#endif //_ATTITUDE_H