#ifndef __SENSOR_H
#define __SENSOR_H

#include "datatype.h"


#define DEG2RAD (PI / 180.0f)
#define RAD2DEG (180.0f / PI)
#define GYRO_RANGE2000_TO_DPS (2000.0f/32768)  //2000    0.060976f 2000/32768
#define GYRO_RANGE1000_TO_DPS (1000.0f/32768); //1000    0.030488f 1000/32768
#define GYRO_RANGE500_TO_DPS  (500.0f/32768);  //500     0.0152672f 500/32768



extern SINS uav_ins;		 //惯性导航相关数据
extern AHRS uav_ahrs;    //姿态解算相关数据

void Get_Status_Feedback_lite(void);

#endif