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This diff has been restricted to the following files: 'dcm.h'
# # old_revision [23a3e9a50b4034343e3bd217d2c225dcaec064dd] # new_revision [dc88787ecd1d574feba045763baed2a7651ff33d] # # patch "dcm.h" # from [91aed9ca7b3b59898347ab5f47e7aa364a483928] # to [6998232fd4c4c2c4e3ae55280f0b30d379de7e25] # ============================================================ --- dcm.h 91aed9ca7b3b59898347ab5f47e7aa364a483928 +++ dcm.h 6998232fd4c4c2c4e3ae55280f0b30d379de7e25 @@ -2,11 +2,13 @@ #include "types.h" -void dcm_update(float omega_x, float omega_y, float omega_z); +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(float x, float y, float z); -void dcm_drift_correction(float x, float y, float z); - +void dcm_setvector(vec3f zvec); +void dcm_drift_correction(vec3f accel); +void dcm_attitude_error(vec3f target);