86,22 → 86,10 |
/* |
* Attitudes calculated by numerical integration of gyro rates |
*/ |
extern int32_t angle[2]; |
extern int32_t angle[3]; |
extern int32_t error[3]; |
|
// extern volatile int32_t ReadingIntegralTop; // calculated in analog.c |
|
/* |
* Compass navigation |
*/ |
extern int16_t compassHeading; |
extern int16_t compassCourse; |
// extern int16_t compassOffCourse; |
extern uint8_t compassCalState; |
extern int32_t yawGyroHeading; |
extern uint8_t updateCompassCourse; |
extern uint16_t ignoreCompassTimer; |
|
/* |
* 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 |
* can be updated in flight by different ways, for example: |