Quadrotor from scratch
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/* dcm.h */
#include "types.h"
void dcm_update(float omega_x, float omega_y, float omega_z);
void dcm_normalise(void);
bool dcm_renormalise(float *v);
void dcm_dump(void);
void dcm_send_packet(void);
void dcm_setvector(float x, float y, float z);
void dcm_drift_correction(float x, float y, float z);