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/*
* 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_ */
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