[paparazzi-commits] [5469] Added some fields to booz_ahrs for numerical differentiation of gyros ( from Mike)

[Allen Ibara]

Revision: 5469
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5469
Author:   aibara
Date:     2010-08-19 03:29:01 +0000 (Thu, 19 Aug 2010)
Log Message:
-----------
Added some fields to booz_ahrs for numerical differentiation of gyros (from 
Mike)

Modified Paths:
--------------
    paparazzi3/trunk/sw/airborne/booz/booz_ahrs.h

Modified: paparazzi3/trunk/sw/airborne/booz/booz_ahrs.h
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/booz_ahrs.h       2010-08-19 03:26:10 UTC 
(rev 5468)
+++ paparazzi3/trunk/sw/airborne/booz/booz_ahrs.h       2010-08-19 03:29:01 UTC 
(rev 5469)
@@ -52,11 +52,14 @@
   struct FloatEulers ltp_to_imu_euler;
   struct FloatRMat   ltp_to_imu_rmat;
   struct FloatRates  imu_rate;
+  struct FloatRates  imu_rate_previous;
+  struct FloatRates  imu_rate_d;
   
   struct FloatQuat   ltp_to_body_quat;
   struct FloatEulers ltp_to_body_euler;
   struct FloatRMat   ltp_to_body_rmat;
   struct FloatRates  body_rate;  
+  struct FloatRates  body_rate_d; 
 
   uint8_t status;
 };