struct.h

00001 
00002 typedef struct _fcc_data {
00003 
00004     unsigned short US;  //2
00005     unsigned short IR1;          //2
00006     unsigned short IR2;         //2
00007     unsigned short IR3;         //2
00008     unsigned short IR4;         //2
00009     unsigned short FCC_voltage;   //2
00010     char state_flag;    //1
00011     float roll, pitch, yaw;    // 4, 4, 4
00012     float g_roll, g_pitch, g_yaw;  //4, 4, 4
00013     float acc_x, acc_y, acc_z;   //4, 4 ,4
00014 
00015 }FCC_DATA;
00016 FCC_DATA fcc;
00017 
00018 typedef struct _ahrs {
00019 
00020     short packet;  //2
00021     unsigned char data_info;  //1
00022     float g_roll, g_pitch, g_yaw;  //4, 4, 4
00023     float acc_x, acc_y, acc_z;   //4, 4 ,4
00024     float roll, pitch, yaw;    // 4, 4, 4
00025 
00026 }AHRS_DATA;
00027 AHRS_DATA IMU;
00028 
00029 typedef struct _rc {
00030     short roll, throttle, pitch, yaw, sw;
00031 } RC_DATA;
00032 RC_DATA RC;