ahrs.c File Reference

Dispatcher to register actual AHRS implementations. More...

#include "modules/ahrs/ahrs.h"
#include "modules/ahrs/ahrs_aligner.h"

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Data Structures
struct	AhrsImpl
	references a registered AHRS implementation More...

Macros
#define	__RegisterAhrs(_x)   _x ## _register()
#define	_RegisterAhrs(_x)   __RegisterAhrs(_x)
#define	RegisterAhrs(_x)   _RegisterAhrs(_x)
#define	AHRS_NB_IMPL   2
	maximum number of AHRS implementations that can register More...

Functions
void	ahrs_register_impl (AhrsEnableOutput enable)
	Register an AHRS implementation. More...
void	ahrs_init (void)
	AHRS initialization. More...
int	ahrs_switch (uint8_t idx)
	Switch to the output of another AHRS impl. More...

Variables
struct AhrsImpl	ahrs_impls [AHRS_NB_IMPL]
uint8_t	ahrs_output_idx

Detailed Description

Dispatcher to register actual AHRS implementations.

Definition in file ahrs.c.

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Data Structure Documentation

AhrsImpl

struct AhrsImpl

references a registered AHRS implementation

Definition at line 55 of file ahrs.c.

Data Fields
AhrsEnableOutput	enable

Macro Definition Documentation

__RegisterAhrs

#define __RegisterAhrs

(

_x

)

_x ## _register()

Definition at line 45 of file ahrs.c.

_RegisterAhrs

#define _RegisterAhrs

(

_x

)

__RegisterAhrs(_x)

Definition at line 46 of file ahrs.c.

AHRS_NB_IMPL

#define AHRS_NB_IMPL   2

maximum number of AHRS implementations that can register

Definition at line 51 of file ahrs.c.

RegisterAhrs

#define RegisterAhrs

(

_x

)

_RegisterAhrs(_x)

Definition at line 47 of file ahrs.c.

Function Documentation

ahrs_init()

void ahrs_init

(

void

)

AHRS initialization.

Called at startup. Registers/initializes the default AHRS.

Definition at line 73 of file ahrs.c.

References ahrs_aligner_init(), ahrs_impls, AHRS_NB_IMPL, ahrs_switch(), AhrsImpl::enable, PRIMARY_AHRS, and RegisterAhrs.

Referenced by main_init().

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ahrs_register_impl()

void ahrs_register_impl

(

AhrsEnableOutput

enable

)

Register an AHRS implementation.

Adds it to an internal list.

Parameters

enable

pointer to function to enable/disable the output of registering AHRS

Definition at line 62 of file ahrs.c.

References ahrs_impls, AHRS_NB_IMPL, and AhrsImpl::enable.

Referenced by ahrs_chimu_register(), ahrs_dcm_register(), ahrs_fc_register(), ahrs_float_invariant_register(), ahrs_icq_register(), ahrs_madgwick_register(), ahrs_mlkf_register(), ahrs_sim_register(), and ahrs_vectornav_register().

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ahrs_switch()

int ahrs_switch

(

uint8_t

idx

)

Switch to the output of another AHRS impl.

Parameters

idx	index of the AHRS impl (0 = PRIMARY_AHRS, 1 = SECONDARY_AHRS).

Definition at line 93 of file ahrs.c.

References ahrs_impls, AHRS_NB_IMPL, ahrs_output_idx, AhrsImpl::enable, FALSE, idx, and TRUE.

Referenced by ahrs_init().

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Variable Documentation

ahrs_impls

struct AhrsImpl ahrs_impls[AHRS_NB_IMPL]

Definition at line 1 of file ahrs.c.

Referenced by ahrs_init(), ahrs_register_impl(), and ahrs_switch().

ahrs_output_idx

uint8_t ahrs_output_idx

Definition at line 60 of file ahrs.c.

Referenced by ahrs_switch().