81,13 → 81,13 |
/* |
* Rotation rates |
*/ |
extern int16_t rate_PID[2], yawRate; |
extern int16_t rate_PID[2], rate_ATT[2], yawRate; |
extern int16_t differential[2]; |
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/* |
* Attitudes calculated by numerical integration of gyro rates |
*/ |
extern int32_t angle[2], yawAngle; |
extern int32_t angle[2], yawAngleDiff; |
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// extern volatile int32_t ReadingIntegralTop; // calculated in analog.c |
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103,6 → 103,8 |
extern uint16_t updateCompassCourse; |
extern uint16_t badCompassHeading; |
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void updateCompass(void); |
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/* |
* Interval wrap-over values for attitude integrals |
*/ |
124,6 → 126,11 |
extern int16_t dynamicOffset[2], dynamicOffsetYaw; |
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/* |
* For NaviCtrl use. |
*/ |
extern int16_t averageAcc[2], averageAccCount; |
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/* |
* 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). |
*/ |
135,6 → 142,8 |
// void attitude_startDynamicCalibration(void); |
// void attitude_continueDynamicCalibration(void); |
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int32_t getAngleEstimateFromAcc(uint8_t axis); |
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/* |
* Main routine, called from the flight loop. |
*/ |