资 源 简 介
很不错的飞控
float q0 = 1, q1 = 0, q2 = 0, q3 = 0; // quaternion elements representing the estimated orientation
float exInt = 0, eyInt = 0, ezInt = 0; // scaled integral error
void IMUupdate(T_int16_xyz *gyr, T_int16_xyz *acc, T_float_angle *angle)
{
float ax = acc->X,ay = acc->Y,az = acc->Z;
float gx = gyr->X,gy = gyr->Y,gz = gyr->Z;
float norm;
// float hx, hy, hz, bx, bz;
float vx, vy, vz;// wx, wy, wz;
float ex, ey, ez;
// ???????????
float q0q0 = q0*q0;
float q0q1 = q0*q1;
float q0q2 = q0*q2;
// float q0q3 = q0*q3;
float q1q1 = q1*q1;
// float q1q2 = q1*q2;
float q1q3 = q1*q3;
float q2q2 = q2*q2;
float q2q3 = q2*q3;
float q3q3 = q3*q3;
if(ax*ay*az==0)
