1 files changed, 24 insertions, 0 deletions
diff --git a/apps/px4/attitude_estimator_bm/attitude_bm.h b/apps/px4/attitude_estimator_bm/attitude_bm.h
new file mode 100644
index 000000000..c21b3d6f1
--- /dev/null
+++ b/apps/px4/attitude_estimator_bm/attitude_bm.h
@@ -0,0 +1,24 @@
+/*
+ * attitude_blackmagic.h
+ *
+ *  Created on: May 31, 2011
+ *      Author: pixhawk
+ */
+
+#ifndef attitude_blackmagic_H_
+#define attitude_blackmagic_H_
+
+#include "matrix.h"
+
+void vect_norm(float_vect3 *vect);
+
+void vect_cross_product(const float_vect3 *a, const float_vect3 *b, float_vect3 *c);
+
+void attitude_blackmagic_update_a(void);
+
+void attitude_blackmagic_init(void);
+
+void attitude_blackmagic(const float_vect3 *accel, const float_vect3 *mag, const float_vect3 *gyro);
+
+void attitude_blackmagic_get_all(float_vect3 *euler, float_vect3 *rates, float_vect3 *x_n_b, float_vect3 *y_n_b, float_vect3 *z_n_b);
+#endif /* attitude_blackmagic_H_ */