added rapid "pid cont" in pidcont.*

2022-09-08 10:03:53 +02:00
parent 736f7bd509
commit 35b87dc5e6
7 changed files with 110 additions and 30 deletions
@@ -13,10 +13,10 @@ typedef struct {


 typedef struct quaternion_s {
-    double w;
-    double x;
-    double y;
-    double z;
+    union { double w; double q0; };
+    union { double x; double q1; };
+    union { double y; double q2; };
+    union { double z; double q3; };
 } quaternion_t;


@@ -37,5 +37,4 @@ void eulerangle_toradians(eulerangle_t* a);
 void quaternion_init(quaternion_t* q);
 void quaternion_toeuler(quaternion_t* q, eulerangle_t* a);

-
 #endif