资 源 简 介
//用于MPU6050姿态运算
#ifndef QE_H
#define QE_H
#include "includes.h"
typedef struct
{
float w;
float x;
float y;
float z;
}_Quaternion;
typedef struct
{
float roll;
float pitch;
float yaw;
}_Euler;
//extern void Euler_Fix( _Euler * e ,_Quaternion q_fix );
extern void Euler_Fix( _Euler * e ,uint8_t type );
extern _Euler QuaternionToEuler( _Quaternion q );
extern _Quaternion EulerToQuaternion( _Euler e );
extern _Quaternion QuaternionMul( _Quaternion *q1, _Quaternion *q2);
extern float QuaternionModulo( _Quaternion q );
#endif//QE_H
