shoes/motion_script/motion/trajAlgorithm/footPDR.h

#ifndef __foot_pdr_h__
#define __foot_pdr_h__

#include "main.h"
#include "ekfPDR.h"
#include "ukfPDR.h"
#include "matrixOperations.h"
#include "motion_config.h"
#include "nrf_nvmc.h"

#define FLASH_ADD 0x0007c000

#define ZUPT_threshold  0.81
#define SIGMA  0.01
#define SIGMA_V  0.01

#define PI 3.14159265f

#define RUN 1
#define STAND 0

unsigned char footPDR(int num, float *gyr, float *acc, float *mag ,int press, int32_t* pos_res, int16_t* att, int16_t* zupt);

void quat2angle(float qin[4], float *roll, float *pitch, float *yaw);

#endif