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#define _ATTITUDE_H
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#define _ATTITUDE_H
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#include <inttypes.h>
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#include <inttypes.h>
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#include "analog.h"
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// For debugging only.
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#include "analog.h"
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#include "uart0.h"
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#include "timer0.h"
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/*
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/*
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#define ROLLOVER_HYSTERESIS 0L
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#define ROLLOVER_HYSTERESIS 0L
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/*
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/*
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 * The frequency at which numerical integration takes place. 488 in original code.
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 * The frequency at which numerical integration takes place. 488 in original code.
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 */
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 */
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#define INTEGRATION_FREQUENCY 488
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#define INTEGRATION_FREQUENCY F_MAINLOOP
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/*
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/*
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 * Gyro readings are divided by this before being used in attitude control. This will scale them
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 * Gyro readings are divided by this before being used in attitude control. This will scale them
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 Examples:
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 Examples:
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 FC1.3:                 GYRO_DEG_FACTOR_PITCHROLL = 2545
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 FC1.3:                 GYRO_DEG_FACTOR_PITCHROLL = 2545
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 FC2.0:                 GYRO_DEG_FACTOR_PITCHROLL = 2399
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 FC2.0:                 GYRO_DEG_FACTOR_PITCHROLL = 2399
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 My InvenSense copter:  GYRO_DEG_FACTOR_PITCHROLL = 1333
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 My InvenSense copter:  GYRO_DEG_FACTOR_PITCHROLL = 1333
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 */
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 */
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//#define GYRO_PITCHROLL_CORRECTION GYRO_PITCHROLL_CORRECTION_should_be_overridden_with_a_-D_at_compile_time
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#define GYRO_DEG_FACTOR_PITCHROLL (uint16_t)(GYRO_RATE_FACTOR_PITCHROLL * INTEGRATION_FREQUENCY * GYRO_PITCHROLL_CORRECTION / HIRES_GYRO_INTEGRATION_FACTOR)
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#define GYRO_DEG_FACTOR_PITCHROLL (uint16_t)(GYRO_RATE_FACTOR_PITCHROLL * INTEGRATION_FREQUENCY * GYRO_PITCHROLL_CORRECTION / HIRES_GYRO_INTEGRATION_FACTOR)
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#define GYRO_DEG_FACTOR_YAW (uint16_t)(GYRO_RATE_FACTOR_YAW * INTEGRATION_FREQUENCY * GYRO_YAW_CORRECTION)
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#define GYRO_DEG_FACTOR_YAW (uint16_t)(GYRO_RATE_FACTOR_YAW * INTEGRATION_FREQUENCY * GYRO_YAW_CORRECTION)
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/*
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/*