Quadrotor from scratch
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/* dcm.h */
#include "types.h"
extern float delta_t;
void dcm_update(vec3f gyro);
void dcm_normalise(void);
bool dcm_renormalise(float *v);
void dcm_dump(void);
void dcm_send_packet(void);
void dcm_setvector(vec3f zvec);
void dcm_drift_correction(vec3f accel);
void dcm_attitude_error(vec3f target);