File content as of revision 0:e493567c21ac:

#ifndef SENSOR_FUSION_H
#define SENSOR_FUSION_H



extern int conv_init;

extern float axm;
extern float aym ;
extern float azm;
extern float u1;
extern float u2;
extern float u3;
extern float mx;
extern float my;
extern float mz;

extern float axm_f;
extern float axm_f_old;
extern float u3aym_f;
extern float u3aym_f_old;
extern float u2azm_f;
extern float u2azm_f_old;

extern float aym_f;
extern float aym_f_old;
extern float u3axm_f;
extern float u3axm_f_old;
extern float u1azm_f;
extern float u1azm_f_old;

extern float u2axm_f;
extern float u2axm_f_old;
extern float u1aym_f;
extern float u1aym_f_old;
extern float azm_f;
extern float azm_f_old;


extern float x1_hat ;
extern float x2_hat;
extern float x3_hat;
extern float cospitch;
extern float pitch_angle;
extern float roll_angle ;

extern float omega_phi;

extern float lpf(float in, float out_old, float alpha, float Ts);
extern void pitch_fusion(float a_xm,float a_ym,float a_zm,float u_3,float u_2,float alpha, float Ts);
extern void roll_fusion(float a_xm,float a_ym,float a_zm,float u_3,float u_1,float alpha, float Ts);
extern void x3_hat_estimat(float a_xm,float a_ym,float a_zm,float u_2,float u_1,float alpha, float Ts);
#endif