加入大疆C板例程bsp

Application/Task/Inc/INS_Task.h

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+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * @file           : INS_Task.h
+  * @brief          : INS task
+  * @author         : Yan Yuanbin
+  * @date           : 2023/04/27
+  * @version        : v1.0
+  ******************************************************************************
+  * @attention      : None
+  ******************************************************************************
+  */
+/* USER CODE END Header */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef INS_TASK_H
+#define INS_TASK_H
+
+/* Includes ------------------------------------------------------------------*/
+#include "stdint.h"
+
+/* Exported types ------------------------------------------------------------*/
+/**
+ * @brief typedef structure that contains the information for the INS.
+ */
+typedef struct 
+{
+	float Pitch_Angle;
+	float Yaw_Angle;
+	float Yaw_TolAngle;
+	float Roll_Angle;
+
+  float Pitch_Gyro;
+  float Yaw_Gyro;
+  float Roll_Gyro;
+
+  float Angle[3];
+	float Gyro[3];	
+	float Accel[3];
+	
+	float Last_Yaw_Angle;
+	int16_t YawRoundCount;
+
+}INS_Info_Typedef;
+
+/* Externs---------------------------------------------------------*/
+extern INS_Info_Typedef INS_Info; 
+
+#endif //INS_TASK_H