/*
 * 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_ */