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Jun 24th, 2019
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  1. ICR1=2499; //using F_cpu =8 mhz
  2.  
  3. while(!(UCSRA &(1<<RXC)));
  4. return UDR;
  5.  
  6. //++++++++++++Yaw+++++++++++++++++++++++++++++++++++
  7. {value=uart_receive();
  8. if (value==',')
  9. {
  10. for(i=0;i<8;i++){
  11. yaw[i]= uart_receive();}
  12.  
  13. yaw_angel=atof(yaw);//convert string to double
  14. PORTC=0x01;
  15. dtostrf(yaw_angel,8,3,yaw);//convert double to string
  16. //++++++++++++Pitch+++++++++++++++++++++++++++++++++++
  17. value=uart_receive();
  18. if (value==',')
  19. {
  20. for(i=0;i<8;i++){
  21. pitch[i]= uart_receive();}
  22.  
  23. pitch_angel=atof(pitch);//convert string to double
  24. dtostrf(pitch_angel,8,3,pitch);//convert double to string
  25.  
  26. //++++++++++++Roll+++++++++++++++++++++++++++++++++++
  27. value=uart_receive();
  28. if (value==',')
  29. {
  30. for(i=0;i<8;i++){
  31. roll[i]= uart_receive();}
  32. roll_angel=atof(roll);//convert string to double
  33. dtostrf(roll_angel,8,3,roll);//convert double to string
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