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CrazyFlie源码研究
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CrazyFlie源码学习1-姿态解算
#ifdef MADWICK_QUATERNION_IMU// Implementation of Madgwick's IMU and AHRS algorithms.// See: http://www.x-io.co.uk/open-source-ahrs-with-x-imu//// Date Author Notes// 29/09/2011 SOH原创 2016-01-16 19:47:37 · 2713 阅读 · 0 评论 -
CrazyFlie源码学习2-Stabilizer任务
static void stabilizerTask(void* param){ RPYType rollType; RPYType pitchType; RPYType yawType; uint32_t attitudeCounter = 0; uint32_t altHoldCounter = 0; uint32_t lastWakeTime; float yawRateAngle = 0;原创 2016-01-24 13:47:44 · 1540 阅读 · 0 评论