Paparazzi UAS  v5.15_devel-88-gb3ad7fe
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ahrs_int_cmpl_euler.h
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21 
30 #ifndef AHRS_INT_CMPL_EULER_H
31 #define AHRS_INT_CMPL_EULER_H
32 
33 #include "subsystems/ahrs.h"
34 #include "std.h"
35 #include "math/pprz_algebra_int.h"
37 
41 };
42 
52  float mag_offset;
53 
55 
57  bool is_aligned;
58 };
59 
60 extern struct AhrsIntCmplEuler ahrs_ice;
61 
62 extern void ahrs_ice_init(void);
64 extern void ahrs_ice_set_body_to_imu_quat(struct FloatQuat *q_b2i);
65 extern bool ahrs_ice_align(struct Int32Rates *lp_gyro, struct Int32Vect3 *lp_accel,
66  struct Int32Vect3 *lp_mag);
67 extern void ahrs_ice_propagate(struct Int32Rates *gyro);
68 extern void ahrs_ice_update_accel(struct Int32Vect3 *accel);
69 extern void ahrs_ice_update_mag(struct Int32Vect3 *mag);
70 
71 #endif /* AHRS_INT_CMPL_EULER_H */
angular rates
struct Int32Eulers ltp_to_imu_euler
struct AhrsIntCmplEuler ahrs_ice
Dispatcher to register actual AHRS implementations.
void ahrs_ice_propagate(struct Int32Rates *gyro)
void ahrs_ice_update_accel(struct Int32Vect3 *accel)
Roation quaternion.
void ahrs_ice_set_body_to_imu(struct OrientationReps *body_to_imu)
void ahrs_ice_update_mag(struct Int32Vect3 *mag)
euler angles
struct Int32Eulers measurement
void ahrs_ice_init(void)
struct Int32Eulers measure
struct Int32Eulers hi_res_euler
AhrsICEStatus
signed long int32_t
Definition: types.h:19
struct OrientationReps body_to_imu
struct Int32Rates imu_rate
enum AhrsICEStatus status
static struct OrientationReps body_to_imu
Definition: ins_alt_float.c:93
bool ahrs_ice_align(struct Int32Rates *lp_gyro, struct Int32Vect3 *lp_accel, struct Int32Vect3 *lp_mag)
void ahrs_ice_set_body_to_imu_quat(struct FloatQuat *q_b2i)
Generic orientation representation and conversions.
struct Int32Rates gyro_bias
struct Int32Eulers residual
Paparazzi fixed point algebra.