void init_Q(void){////////pitch roll yawq0=cos(roll/2)*cos(pitch/2)*cos(yaw/2)+sin(roll/2)*sin(yaw/2)*sin(yaw/2);}void angle() //姿态矩阵{float DX,DX1,DX2,DX3,DY,DY1,DY2,DY3,DZ,DZ1,DZ2,DZ3;float model,...
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