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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 |
22 | s16 AngleRoll; // RollAngle in 0.1 deg |
23 | s16 AngleRoll; // RollAngle in 0.1 deg |
23 | s16 AccNick; |
24 | s16 AccNick; |
24 | s16 AccRoll; |
25 | s16 AccRoll; |
25 | s16 GyroHeading; // Heading in 0.1 deg |
26 | s16 GyroHeading; // Heading in 0.1 deg |
26 | s16 GyroNick; |
27 | s16 GyroNick; |
27 | s16 GyroRoll; |
28 | s16 GyroRoll; |
28 | s16 GyroYaw; |
29 | s16 GyroYaw; |
29 | union |
30 | union |
30 | { |
31 | { |
31 | s8 sByte[12]; |
32 | s8 sByte[12]; |
32 | u8 Byte[12]; |
33 | u8 Byte[12]; |
33 | s16 Int[6]; |
34 | s16 Int[6]; |
34 | s32 Long[3]; |
35 | s32 Long[3]; |
35 | float Float[3]; |
36 | float Float[3]; |
36 | } Param; |
37 | } Param; |
37 | u8 Chksum; |
38 | u8 Chksum; |
Line -... | Line 39... | ||
- | 39 | } __attribute__((packed)) FromFlightCtrl_t; |
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38 | } __attribute__((packed)) FromFlightCtrl_t; |
40 | |
- | 41 | ||
Line 39... | Line 42... | ||
39 | 42 | #define SPI_KALMAN 103 |
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40 | #define SPI_KALMAN 103 |
43 | #define SPI_EXTCTRL 104 |
41 | 44 | ||
42 | typedef struct |
45 | typedef struct |