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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1645 | - | 1 | /*********************************************************************************/ |
| 2 | /* Attitude sense system (processing of gyro, accelerometer and altimeter data) */ |
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| 3 | /*********************************************************************************/ |
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| 1612 | dongfang | 4 | |
| 5 | #ifndef _ATTITUDE_H |
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| 6 | #define _ATTITUDE_H |
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| 7 | |||
| 8 | #include <inttypes.h> |
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| 2189 | - | 9 | #include <math.h> |
| 1612 | dongfang | 10 | |
| 11 | #include "analog.h" |
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| 2189 | - | 12 | //#include "timer0.h" |
| 13 | //#define _PI 3.1415926535897932384626433832795 |
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| 1612 | dongfang | 14 | |
| 2189 | - | 15 | #define ACC_MS2_FACTOR (1.0f / ACC_G_FACTOR_XY) |
| 1612 | dongfang | 16 | |
| 2189 | - | 17 | // 57.3 |
| 18 | #define RAD_DEG_FACTOR (180.0 / M_PI) |
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| 1612 | dongfang | 19 | |
| 20 | /* |
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| 1645 | - | 21 | * Attitudes calculated by numerical integration of gyro rates |
| 1612 | dongfang | 22 | */ |
| 2189 | - | 23 | extern int16_t attitude[3]; |
| 1612 | dongfang | 24 | |
| 25 | /* |
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| 26 | * Re-init flight attitude, setting all angles to 0 (or to whatever can be derived from acc. sensor). |
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| 27 | * To be called when the pilot commands gyro calibration (eg. by moving the left stick up-left or up-right). |
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| 28 | */ |
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| 29 | void attitude_setNeutral(void); |
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| 30 | |||
| 31 | /* |
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| 32 | * Main routine, called from the flight loop. |
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| 33 | */ |
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| 2189 | - | 34 | void attitude_update(void); |
| 2035 | - | 35 | |
| 1612 | dongfang | 36 | #endif //_ATTITUDE_H |