29 lines
686 B
C
29 lines
686 B
C
#pragma once
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struct ORI_Data
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{
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unsigned long Freq;
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//---
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struct { short Acc; short Bar; } Temp;
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//---
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struct { short X, Y, Z; } Acc;
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struct { short X, Y, Z; } Gyr;
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struct { short X, Y, Z; } Mag;
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//---
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struct { float Bar, Alt, Filt, Speed, Acc; } Bar;
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//---
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bool Upside = false;
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float Pitch, Roll, Yaw;
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float SinX, SinY, CosZ;
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//---
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struct { float X, Y, Z; } Iner;
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struct { float X, Y, Z; } Speed;
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struct { float X, Y, Z; } Pos;
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};
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extern ORI_Data DataORI;
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void ORI_Init();
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void ORI_Get(ORI_Data& Data, const unsigned long Freq, struct IMU_Data& IMU, struct BAR_Data BAR);
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void ORI_TiltCompAcc(float Pitch, float Roll, short Acc[3], ORI_Data& Data); |