同步步兵代码，暂时关闭底盘跟随

云台/云台-old/AHRS/AHRS_middleware.h

@@ -0,0 +1,67 @@
+#ifndef AHRS_MIDDLEWARE_H
+#define AHRS_MIDDLEWARE_H
+
+#include "struct_typedef.h"
+
+/**
+  ****************************(C) COPYRIGHT 2016 DJI****************************
+  * @file       AHRS_MiddleWare.c/h
+  * @brief      姿态解算中间层，为姿态解算提供相关函数
+  * @note
+  * @history
+  *  Version    Date            Author          Modification
+  *  V1.0.0     Dec-26-2018     RM              1. 完成
+  *
+  @verbatim
+  ==============================================================================
+
+  ==============================================================================
+  @endverbatim
+  ****************************(C) COPYRIGHT 2016 DJI****************************
+  */
+
+//重新对应的数据类型
+// typedef signed char int8_t;
+// typedef signed short int int16_t;
+// typedef signed int int32_t;
+// typedef signed long long int64_t;
+
+// /* exact-width unsigned integer types */
+// typedef unsigned char uint8_t;
+// typedef unsigned short int uint16_t;
+// typedef unsigned int uint32_t;
+// typedef unsigned long long uint64_t;
+// typedef unsigned char bool_t;
+// typedef float fp32;
+// typedef double fp64;
+
+//定义 NULL
+#ifndef NULL
+    #define NULL 0
+#endif
+
+//定义PI 值
+#ifndef PI
+    #define PI 3.14159265358979f
+#endif
+
+//定义 角度(度)转换到 弧度的比例
+#ifndef ANGLE_TO_RAD
+    #define ANGLE_TO_RAD 0.01745329251994329576923690768489f
+#endif
+
+//定义 弧度 转换到 角度的比例
+#ifndef RAD_TO_ANGLE
+    #define RAD_TO_ANGLE 57.295779513082320876798154814105f
+#endif
+
+extern void AHRS_get_height(fp32 *high);
+extern void AHRS_get_latitude(fp32 *latitude);
+extern fp32 AHRS_invSqrt(fp32 num);
+extern fp32 AHRS_sinf(fp32 angle);
+extern fp32 AHRS_cosf(fp32 angle);
+extern fp32 AHRS_tanf(fp32 angle);
+extern fp32 AHRS_asinf(fp32 sin);
+extern fp32 AHRS_acosf(fp32 cos);
+extern fp32 AHRS_atan2f(fp32 y, fp32 x);
+#endif