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13 | #define SPI_CMD_VERSION 14 |
13 | #define SPI_CMD_VERSION 14 |
Line 14... | Line 14... | ||
14 | 14 | ||
15 | extern s32 FC_Kalman_K; |
15 | extern s32 FC_Kalman_K; |
16 | extern s32 Kalman_MaxDrift; |
16 | extern s32 Kalman_MaxDrift; |
- | 17 | extern s32 Kalman_MaxFusion; |
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17 | extern s32 Kalman_MaxFusion; |
18 | |
18 | typedef struct |
19 | typedef struct |
19 | { |
20 | { |
20 | u8 Command; |
21 | u8 Command; |
21 | s16 AngleNick; // NickAngle in 0.1 deg |
22 | s16 AngleNick; // NickAngle in 0.1 deg |
Line 35... | Line 36... | ||
35 | float Float[3]; |
36 | float Float[3]; |
36 | } Param; |
37 | } Param; |
37 | u8 Chksum; |
38 | u8 Chksum; |
38 | } __attribute__((packed)) FromFlightCtrl_t; |
39 | } __attribute__((packed)) FromFlightCtrl_t; |
Line -... | Line 40... | ||
- | 40 | ||
39 | 41 | ||
- | 42 | #define SPI_KALMAN 103 |
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Line 40... | Line 43... | ||
40 | #define SPI_KALMAN 103 |
43 | #define SPI_EXTCTRL 104 |
41 | 44 | ||
42 | typedef struct |
45 | typedef struct |
43 | { |
46 | { |