35 lines
985 B
C
35 lines
985 B
C
#ifndef ATTITUDE_H
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#define ATTITUDE_H
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#include "imu_processing.h"
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#include "radio_receiver.h"
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#include "pid.h"
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#define CF_ALPHA 0.99f
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typedef struct
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{
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float roll; // deg
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float pitch; // deg
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float yaw_rate; // deg/s
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} attitude_t;
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void complementary_filter_update(attitude_t* att, const imu_scaled_t* imu);
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void attitude_update(attitude_t* attitude, imu_scaled_t* imu);
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void yaw_rate_update(attitude_t* attitude, imu_scaled_t* imu);
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void attitude_pid_update(control_channels_t* control,
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const rc_channels* rx,
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const attitude_t* att,
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const imu_scaled_t* imu);
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void TIM6_DAC_IRQHandler();
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float accel_roll_deg(const imu_scaled_t* imu);
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float accel_pitch_deg(const imu_scaled_t* imu);
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void integrate_gyro_roll_deg(float* roll, const imu_scaled_t* imu);
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void integrate_gyro_pitch_deg(float* pitch, const imu_scaled_t* imu);
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void integrate_gyro_yaw_deg(float* yaw, const imu_scaled_t* imu);
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#endif |