28 lines
657 B
C
28 lines
657 B
C
#ifndef ATTITUDE_H
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#define ATTITUDE_H
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#include "quaternion.h"
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#include "vector.h"
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#include "pid.h"
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#include "radio_receiver.h"
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typedef struct
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{
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Vector3 gyro;
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} attitude_t;
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static uint8_t imu_update_flag = 0;
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static uint8_t pid_update_flag = 0;
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void attitude_init(attitude_t* att);
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void attitude_controller_update(control_channels_t* control,
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const rc_channels* rx,
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const Quaternion* current_q,
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const Vector3* gyro);
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Quaternion rx_to_quaternion(const rc_channels* rx);
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float constrain(float x, float min, float max);
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void TIM6_DAC_IRQHandler();
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#endif |