| 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: |