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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 | { |