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