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| 107 | * in filtering, and when a gyro becomes near saturated. |
107 | * in filtering, and when a gyro becomes near saturated. |
| 108 | * Maybe this distinction is not really necessary. |
108 | * Maybe this distinction is not really necessary. |
| 109 | */ |
109 | */ |
| 110 | extern int16_t gyro_PID[2]; |
110 | extern int16_t gyro_PID[2]; |
| 111 | extern int16_t gyro_ATT[2]; |
111 | extern int16_t gyro_ATT[2]; |
| - | 112 | #define GYRO_D_WINDOW_LENGTH 3 |
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| 112 | extern int16_t gyroD[2]; |
113 | extern int16_t gyroD[2]; |
| 113 | extern int16_t yawGyro; |
114 | extern int16_t yawGyro; |
| 114 | extern volatile uint16_t ADCycleCount; |
115 | extern volatile uint16_t ADCycleCount; |
| 115 | extern int16_t UBat; |
116 | extern int16_t UBat; |