Обновлена архитектура обработки IMU

Source/Control/Inc/attitude.h

@@ -1,60 +1,28 @@
 #ifndef ATTITUDE_H
 #define ATTITUDE_H
 
-#include "imu_processing.h"
-#include "radio_receiver.h"
-#include "pid.h"
 #include "quaternion.h"
 #include "vector.h"
-
-#define CF_ALPHA		0.99f
-#define GYRO_BIAS_LIM	0.5f
-#define RATE_LIM		300.0f
-
-/*typedef struct
-{
-	float roll;			// deg
-	float pitch;		// deg
-	float yaw_rate;		// deg/s
-} attitude_t;*/
+#include "pid.h"
+#include "radio_receiver.h"
 
 typedef struct
 {
-	Quaternion orientation;	// current orientation
-	Vector3 gyro;			// current angular velocity
+    Vector3 gyro;
 } attitude_t;
 
+static uint8_t imu_update_flag = 0;
+static uint8_t pid_update_flag = 0;
 
 void attitude_init(attitude_t* att);
-void attitude_estimator_update(attitude_t* att, const imu_scaled_t* imu);
-void attitude_controller_update(control_channels_t* control, const rc_channels* rx, const attitude_t* att);
 
-void TIM6_DAC_IRQHandler();
-void attitude_update(attitude_t* attitude, imu_scaled_t* imu);
-void attitude_pid_update(control_channels_t* control, const rc_channels* rx, const attitude_t* att);
+void attitude_controller_update(control_channels_t* control,
+                                const rc_channels* rx,
+                                const Quaternion* current_q,
+                                const Vector3* gyro);
 
-Vector3 gravity_from_quat(const Quaternion* q);
 Quaternion rx_to_quaternion(const rc_channels* rx);
-
 float constrain(float x, float min, float max);
-
-///////////////////////////////////////////////////////////////////////////////
-
-void complementary_filter_update(attitude_t* att, const imu_scaled_t* imu);
-void yaw_rate_update(attitude_t* attitude, imu_scaled_t* imu);
-/*void attitude_pid_update(control_channels_t* control, 
-                         const rc_channels* rx, 
-                         const attitude_t* att, 
-                         const imu_scaled_t* imu);*/
-
-
-float accel_roll_deg(const imu_scaled_t* imu);
-float accel_pitch_deg(const imu_scaled_t* imu);
-
-void integrate_gyro_roll_deg(float* roll, const imu_scaled_t* imu);
-void integrate_gyro_pitch_deg(float* pitch, const imu_scaled_t* imu);
-void integrate_gyro_yaw_deg(float* yaw, const imu_scaled_t* imu);
-
-
+void TIM6_DAC_IRQHandler();
 
 #endif