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ahrs_madgwick.c File Reference
#include "modules/ahrs/ahrs_madgwick.h"
#include "generated/airframe.h"
#include "math/pprz_algebra_float.h"
#include "subsystems/ahrs/ahrs_float_utils.h"
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Macros

#define AHRS_MADGWICK_BETA   0.1f
 

Functions

static void init_state (void)
 
void ahrs_madgwick_init (void)
 
void ahrs_madgwick_align (struct FloatRates *lp_gyro, struct FloatVect3 *lp_accel)
 
void ahrs_madgwick_propagate (struct FloatRates *gyro, float dt)
 
void ahrs_madgwick_update_accel (struct FloatVect3 *accel)
 
void ahrs_madgwick_set_body_to_imu_quat (struct FloatQuat *q_b2i)
 

Variables

struct AhrsMadgwick ahrs_madgwick
 

Macro Definition Documentation

#define AHRS_MADGWICK_BETA   0.1f

Definition at line 35 of file ahrs_madgwick.c.

Referenced by ahrs_madgwick_propagate().

Function Documentation

void ahrs_madgwick_align ( struct FloatRates lp_gyro,
struct FloatVect3 lp_accel 
)

Definition at line 59 of file ahrs_madgwick.c.

References ahrs_float_get_quat_from_accel(), ahrs_madgwick, AhrsMadgwick::bias, AhrsMadgwick::is_aligned, and AhrsMadgwick::quat.

Referenced by aligner_cb().

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void ahrs_madgwick_init ( void  )

Definition at line 50 of file ahrs_madgwick.c.

References ahrs_madgwick, init_state(), AhrsMadgwick::is_aligned, and AhrsMadgwick::reset.

Referenced by ahrs_madgwick_register().

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void ahrs_madgwick_set_body_to_imu_quat ( struct FloatQuat q_b2i)

Definition at line 147 of file ahrs_madgwick.c.

References ahrs_madgwick, AhrsMadgwick::body_to_imu, AhrsMadgwick::is_aligned, orientationSetQuat_f(), and AhrsMadgwick::quat.

Referenced by body_to_imu_cb().

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void ahrs_madgwick_update_accel ( struct FloatVect3 accel)

Definition at line 142 of file ahrs_madgwick.c.

References AhrsMadgwick::accel, and ahrs_madgwick.

Referenced by accel_cb().

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static void init_state ( void  )
inlinestatic

Definition at line 43 of file ahrs_madgwick.c.

References AhrsMadgwick::accel, ahrs_madgwick, AhrsMadgwick::bias, float_quat_identity(), FLOAT_RATES_ZERO, FLOAT_VECT3_ZERO, and AhrsMadgwick::quat.

Referenced by ahrs_madgwick_init(), and ahrs_madgwick_propagate().

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Variable Documentation