shoes/liweiyan/esb-fsm-s/motion/trajAlgorithm/footPDR.h

#include "main.h"

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

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