xyControl  0.1
Quadrotor Flight Controller on AVR Basis
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orientation.h
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1 /*
2  * orientation.h
3  *
4  * Copyright (c) 2013, Thomas Buck <xythobuz@me.com>
5  * All rights reserved.
6  *
7  * Redistribution and use in source and binary forms, with or without
8  * modification, are permitted provided that the following conditions
9  * are met:
10  *
11  * - Redistributions of source code must retain the above copyright notice,
12  * this list of conditions and the following disclaimer.
13  *
14  * - Redistributions in binary form must reproduce the above copyright
15  * notice, this list of conditions and the following disclaimer in the
16  * documentation and/or other materials provided with the distribution.
17  *
18  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
19  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
20  * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
21  * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
22  * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
23  * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
24  * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
25  * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
26  * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
27  * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
28  * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
29  */
30 
31 #ifndef _orientation_h
32 #define _orientation_h
33 
34 #include <error.h>
35 
48 typedef struct {
49  double pitch;
50  double roll;
51  double yaw;
52  double vPitch;
53  double vRoll;
54  double vYaw;
55 } Angles;
56 
57 extern Angles orientation;
65 
71 
73 void zeroOrientation(void);
74 
75 #endif
76