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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 PITCHROLLOVER180 (GYRO_DEG_FACTOR_PITCHROLL * 180L)
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#define PITCHROLLOVER360 (GYRO_DEG_FACTOR_PITCHROLL * 360L)
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#define YAWOVER180       (GYRO_DEG_FACTOR_YAW * 180L)
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#define YAWOVER360       (GYRO_DEG_FACTOR_YAW * 360L)
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/*
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/*
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 * Rotation rates
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 * Rotation rates
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 */
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 */
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extern int16_t rate_PID[2], rate_ATT[2], yawRate;
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extern int16_t rate_PID[2], rate_ATT[2], yawRate;
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extern int16_t differential[2];
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extern int16_t differential[2];
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/*
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/*
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 * Attitudes calculated by numerical integration of gyro rates
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 * Attitudes calculated by numerical integration of gyro rates
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 */
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 */
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extern int32_t attitude[2];
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extern int32_t angle[2], yawAngleDiff;
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// This is really a flight module thing, but it should be corrected along
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// when the yaw angle is corrected from the compass, and that happens here.
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// extern volatile int32_t ReadingIntegralTop; // calculated in analog.c
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// extern int32_t yawAngleDiff;
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/*
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 * Compass navigation
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/*
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 */
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extern int16_t magneticHeading;
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 * Compass navigation
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extern int16_t compassCourse;
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// extern int16_t compassOffCourse;
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extern uint8_t compassCalState;
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 */
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extern int32_t yawGyroHeading;
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extern int16_t magneticHeading;
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extern int16_t yawGyroHeadingInDeg;
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//extern int16_t headingInDegrees;
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extern int32_t heading;
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extern uint8_t updateCompassCourse;
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extern uint16_t ignoreCompassTimer;
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extern uint16_t ignoreCompassTimer;
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extern uint16_t accVector;
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extern uint16_t accVector;
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extern int32_t targetHeading;
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/*
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/*
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 * Main routine, called from the flight loop.
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 * Main routine, called from the flight loop.
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 */
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 */
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void calculateFlightAttitude(void);
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void calculateFlightAttitude(void);
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void attitude_resetHeadingToMagnetic(void);
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