30 lines
623 B
C
30 lines
623 B
C
#ifndef IRS_H
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#define IRS_H
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#include "quaternion.h"
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#include "vector.h"
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#define PI 3.14159265359f
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#define DEG2RAD PI / 180.0f
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typedef struct
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{
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Quaternion q; // ориентация
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Vector3 oriPRT; // orientation pitch roll tilts
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Vector3 gyro; // deg/s
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Vector3 accel; // g
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Quaternion shiftAccelPRY; // смещение акселерометра
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} IRS;
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void IRS_init(IRS* irs);
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void IRS_update(IRS* irs, float dt);
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void restoreQuat(IRS* irs);
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void setAccelShift(IRS* irs, const float pitch, const float roll, const float yaw);
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Vector3 IRS_getGravity(const Quaternion* q);
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#endif |