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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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#include "analog.h"
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#include "timer0.h"
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//#define ATTITUDE_USE_ACC_SENSORS yes
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//#define ATTITUDE_USE_ACC_SENSORS yes
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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 (uint16_t)(F_MAINLOOP)
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/*
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/*
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 * Constant for deriving an attitude angle from acceleration measurement.
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 * Constant for deriving an attitude angle from acceleration measurement.
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 * value for the same (small) angle.
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 * value for the same (small) angle.
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 * The value is about 200.
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 * The value is about 200.
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 */
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 */
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//#define GYRO_ACC_FACTOR ((GYRO_DEG_FACTOR_PITCHROLL) / (DEG_ACC_FACTOR))
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//#define GYRO_ACC_FACTOR ((GYRO_DEG_FACTOR_PITCHROLL) / (DEG_ACC_FACTOR))
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#define OVER180 ((int32_t)GYRO_DEG_FACTOR * 180L)
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#define OVER180 ((int32_t)(GYRO_DEG_FACTOR * 180.0f))
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#define OVER360 ((int32_t)GYRO_DEG_FACTOR * 360L)
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#define OVER360 ((int32_t)(GYRO_DEG_FACTOR * 360.0f))
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/*
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/*
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 * Rotation rates
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 * Rotation rates