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| 79 | #define GYRO_ACC_FACTOR ((GYRO_DEG_FACTOR_PITCHROLL) / (DEG_ACC_FACTOR)) |
79 | #define GYRO_ACC_FACTOR ((GYRO_DEG_FACTOR_PITCHROLL) / (DEG_ACC_FACTOR)) |
| Line 80... | Line 80... | ||
| 80 | 80 | ||
| 81 | /* |
81 | /* |
| 82 | * Rotation rates |
82 | * Rotation rates |
| 83 | */ |
83 | */ |
| 84 | extern int16_t rate_PID[2], yawRate; |
84 | extern int16_t rate_PID[2], rate_ATT[2], yawRate; |
| Line 85... | Line 85... | ||
| 85 | extern int16_t differential[2]; |
85 | extern int16_t differential[2]; |
| 86 | 86 | ||
| 87 | /* |
87 | /* |
| 88 | * Attitudes calculated by numerical integration of gyro rates |
88 | * Attitudes calculated by numerical integration of gyro rates |
| Line 89... | Line 89... | ||
| 89 | */ |
89 | */ |
| Line 90... | Line 90... | ||
| 90 | extern int32_t angle[2], yawAngle; |
90 | extern int32_t angle[2], yawAngleDiff; |
| 91 | 91 | ||
| Line 101... | Line 101... | ||
| 101 | extern int32_t yawGyroHeading; |
101 | extern int32_t yawGyroHeading; |
| 102 | extern int16_t yawGyroHeadingInDeg; |
102 | extern int16_t yawGyroHeadingInDeg; |
| 103 | extern uint16_t updateCompassCourse; |
103 | extern uint16_t updateCompassCourse; |
| 104 | extern uint16_t badCompassHeading; |
104 | extern uint16_t badCompassHeading; |
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| - | 105 | ||
| - | 106 | void updateCompass(void); |
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| 105 | 107 | ||
| 106 | /* |
108 | /* |
| 107 | * Interval wrap-over values for attitude integrals |
109 | * Interval wrap-over values for attitude integrals |
| 108 | */ |
110 | */ |
| Line 122... | Line 124... | ||
| 122 | * - Invent your own... |
124 | * - Invent your own... |
| 123 | */ |
125 | */ |
| 124 | extern int16_t dynamicOffset[2], dynamicOffsetYaw; |
126 | extern int16_t dynamicOffset[2], dynamicOffsetYaw; |
| Line 125... | Line 127... | ||
| 125 | 127 | ||
| - | 128 | /* |
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| - | 129 | * For NaviCtrl use. |
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| - | 130 | */ |
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| - | 131 | extern int16_t averageAcc[2], averageAccCount; |
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| - | 132 | ||
| 126 | /* |
133 | /* |
| 127 | * Re-init flight attitude, setting all angles to 0 (or to whatever can be derived from acc. sensor). |
134 | * Re-init flight attitude, setting all angles to 0 (or to whatever can be derived from acc. sensor). |
| 128 | * To be called when the pilot commands gyro calibration (eg. by moving the left stick up-left or up-right). |
135 | * To be called when the pilot commands gyro calibration (eg. by moving the left stick up-left or up-right). |
| 129 | */ |
136 | */ |
| Line 133... | Line 140... | ||
| 133 | * Experiment. |
140 | * Experiment. |
| 134 | */ |
141 | */ |
| 135 | // void attitude_startDynamicCalibration(void); |
142 | // void attitude_startDynamicCalibration(void); |
| 136 | // void attitude_continueDynamicCalibration(void); |
143 | // void attitude_continueDynamicCalibration(void); |
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| - | 144 | ||
| - | 145 | int32_t getAngleEstimateFromAcc(uint8_t axis); |
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| 137 | 146 | ||
| 138 | /* |
147 | /* |
| 139 | * Main routine, called from the flight loop. |
148 | * Main routine, called from the flight loop. |
| 140 | */ |
149 | */ |
| 141 | void calculateFlightAttitude(void); |
150 | void calculateFlightAttitude(void); |