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| 16 | extern s32 Kalman_MaxDrift; |
16 | extern s32 Kalman_MaxDrift; |
| 17 | extern s32 Kalman_MaxFusion; |
17 | extern s32 Kalman_MaxFusion; |
| 18 | typedef struct |
18 | typedef struct |
| 19 | { |
19 | { |
| 20 | u8 Command; |
20 | u8 Command; |
| 21 | s16 IntegralNick; |
21 | s16 AngleNick; // NickAngle in 0.1 deg |
| 22 | s16 IntegralRoll; |
22 | s16 AngleRoll; // RollAngle in 0.1 deg |
| 23 | s16 AccNick; |
23 | s16 AccNick; |
| 24 | s16 AccRoll; |
24 | s16 AccRoll; |
| 25 | s16 GyroHeading; |
25 | s16 GyroHeading; // Heading in 0.1 deg |
| 26 | s16 GyroNick; |
26 | s16 GyroNick; |
| 27 | s16 GyroRoll; |
27 | s16 GyroRoll; |
| 28 | s16 GyroYaw; |
28 | s16 GyroYaw; |
| 29 | union |
29 | union |
| 30 | { |
30 | { |