ahrs_chimu_uart.c File Reference

#include <stdbool.h>
#include "state.h"
#include "modules/gps/gps.h"
#include "modules/ahrs/ahrs.h"
#include "generated/airframe.h"
#include "modules/ins/ins_module.h"
#include "modules/ins/imu_chimu.h"
#include "led.h"

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Functions
static bool	ahrs_chimu_enable_output (bool enable)
void	ahrs_chimu_register (void)
void	ahrs_chimu_init (void)
void	parse_ins_msg (void)

Variables
CHIMU_PARSER_DATA	CHIMU_DATA
INS_FORMAT	ins_roll_neutral
INS_FORMAT	ins_pitch_neutral
struct AhrsChimu	ahrs_chimu

Function Documentation

ahrs_chimu_enable_output()

static bool ahrs_chimu_enable_output ( bool  enable )

static

Definition at line 35 of file ahrs_chimu_uart.c.

References ahrs_chimu, and AhrsChimu::is_enabled.

Referenced by ahrs_chimu_register().

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ahrs_chimu_init()

void ahrs_chimu_init

(

void

)

Definition at line 47 of file ahrs_chimu_uart.c.

References ahrs_chimu, CHIMU_BROADCAST, CHIMU_Checksum(), CHIMU_DATA, CHIMU_Init(), CHIMU_STX, ins_pitch_neutral, INS_PITCH_NEUTRAL_DEFAULT, ins_roll_neutral, INS_ROLL_NEUTRAL_DEFAULT, InsSend, InsSend1, InsUartSend1, AhrsChimu::is_aligned, AhrsChimu::is_enabled, MSG00_PING, MSG09_ESTIMATOR, MSG10_UARTSETTINGS, and new_ins_attitude.

Referenced by ahrs_chimu_register().

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ahrs_chimu_register()

void ahrs_chimu_register

(

void

)

Definition at line 41 of file ahrs_chimu_uart.c.

References ahrs_chimu_enable_output(), AHRS_CHIMU_GPS_ID, ahrs_chimu_init(), ahrs_register_impl(), gps_cb(), and gps_ev.

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parse_ins_msg()

void parse_ins_msg ( void  )

inline

Definition at line 81 of file ahrs_chimu_uart.c.

References ahrs_chimu, AHRS_COMP_ID_CHIMU, CHIMU_DATA, CHIMU_Parse(), DefaultChannel, DefaultDevice, dev, CHIMU_attitude_data::euler, InsLinkDevice, AhrsChimu::is_aligned, AhrsChimu::is_enabled, LED_TOGGLE, CHIMU_PARSER_DATA::m_attitude, CHIMU_PARSER_DATA::m_MsgID, new_ins_attitude, CHIMU_Euler::phi, CHIMU_Euler::psi, stateSetNedToBodyEulers_f(), and CHIMU_Euler::theta.

Referenced by ins_event_check_and_handle().

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Variable Documentation

ahrs_chimu

struct AhrsChimu ahrs_chimu

Definition at line 31 of file ahrs_chimu_uart.c.

Referenced by ahrs_chimu_enable_output(), ahrs_chimu_init(), and parse_ins_msg().

CHIMU_DATA

CHIMU_PARSER_DATA CHIMU_DATA

Definition at line 28 of file ahrs_chimu_uart.c.

Referenced by ahrs_chimu_init(), and parse_ins_msg().

ins_pitch_neutral

INS_FORMAT ins_pitch_neutral

Definition at line 31 of file ahrs_chimu_uart.c.

Referenced by ahrs_chimu_init().

ins_roll_neutral

INS_FORMAT ins_roll_neutral

Definition at line 30 of file ahrs_chimu_uart.c.

Referenced by ahrs_chimu_init().