Gavan Fantom
3f12132231
loops, boot-time initialisation, option to run without attached UART. And.. it flies!
15 lines
378 B
C
15 lines
378 B
C
/* dcm.h */
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#include "types.h"
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extern float delta_t;
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void dcm_update(float omega_x, float omega_y, float omega_z);
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void dcm_normalise(void);
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bool dcm_renormalise(float *v);
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void dcm_dump(void);
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void dcm_send_packet(void);
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void dcm_setvector(float x, float y, float z);
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void dcm_drift_correction(float x, float y, float z);
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void dcm_attitude_error(float x, float y, float z);
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