BareBone code template for Nayan Slave Processor written in chibios
###Flashing on the Slave Firmware Slave_Processor_Setup
###Nayan Wiki Visit http://aus.co.in/wiki
###Chibios Documentation Visit http://chibios.sourceforge.net/html/
###MAVLink Visit http://qgroundcontrol.org/mavlink/start
##Overview
###Sensor Variables
Sensor_IMU sens_imu
holds latest acceleration, angular rates and attitude from IMUSensor_Pose sens_pos
holds latest latitude, longitude, velocities in NED from GPS and altitude from barometer.Sensor_ExtPos sens_cv
holds vision position estimates from odroiduint16_t rc_in[7]
holds latest radio control inputs.
###Control Variables
bool_t dmc
control motors direcly if TRUE. If FALSE, then provids setpoints to master controller.uint16_t control_command[4]
accepts direct motor commands ifdmc = TRUE
or master controller setpoints ifdmc = FASLE