#ifndef __IMU_
#define __IMU_

#include "dsp.h"
#include  <libq.h>

// Types
struct ww { int W0 ; int W1 ; } ;
union longww { long  WW ; struct ww _ ; } ;
typedef struct
   { 
	   fractional phi; // roll (d/dt =speed rate x axes)
	   fractional teta; // pitch (d/dt =speed rate y axes
	   fractional psi; // yaw (d/dt =speed rate z axes
   } EulerAttitude;


extern void DCMupdate(fractional *);

extern fractional	R[];
extern fractional	Rtemp[];
#endif
