ahrs_vectornav.c File Reference

#include "modules/ahrs/ahrs_vectornav.h"
#include "modules/ahrs/ahrs_vectornav_wrapper.h"
#include "modules/core/abi.h"
#include "state.h"
#include "modules/datalink/telemetry.h"

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Functions
static void	send_vn_info (struct transport_tx *trans, struct link_device *dev)
void	ahrs_vectornav_event (void)
	Event handling for Vectornav. More...
void	ahrs_vectornav_init (void)
	Initialize Vectornav struct. More...
void	ahrs_vectornav_propagate (void)
	Read received data. More...

Variables
struct AhrsVectornav	ahrs_vn

Function Documentation

ahrs_vectornav_event()

void ahrs_vectornav_event

(

void

)

Event handling for Vectornav.

Definition at line 68 of file ahrs_vectornav.c.

References VNData::accel, AhrsVectornav::accel_i, ACCELS_BFP_OF_REAL, ahrs_vectornav_is_enabled(), ahrs_vectornav_propagate(), ahrs_vn, get_sys_time_usec(), VNData::gyro, AhrsVectornav::gyro_i, IMU_VECTORNAV_ID, VNPacket::msg_available, RATES_BFP_OF_REAL, vn200_event(), vn200_read_message(), AhrsVectornav::vn_data, AhrsVectornav::vn_freq, and AhrsVectornav::vn_packet.

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ahrs_vectornav_init()

void ahrs_vectornav_init

(

void

)

Initialize Vectornav struct.

Definition at line 96 of file ahrs_vectornav.c.

References AhrsVectornav::accel_i, ahrs_vn, VNPacket::chksm_error, DefaultPeriodic, VNPacket::framing_error, VNPacket::hdr_error, INT32_VECT3_ZERO, VNPacket::msg_available, VNPacket::msg_idx, VNPacket::noise_error, VNPacket::overrun_error, register_periodic_telemetry(), send_vn_info(), VNPacket::status, AhrsVectornav::vn_data, AhrsVectornav::vn_freq, AhrsVectornav::vn_packet, AhrsVectornav::vn_status, VNMsgSync, and VNNotTracking.

Referenced by ahrs_vectornav_register().

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ahrs_vectornav_propagate()

void ahrs_vectornav_propagate

(

void

)

Read received data.

Definition at line 125 of file ahrs_vectornav.c.

References ahrs_vn, VNData::attitude, AhrsVectornav::body_to_imu, float_quat_of_eulers(), float_rmat_ratemult(), VNData::gyro, orientationGetRMat_f(), stateSetBodyRates_f(), stateSetNedToBodyQuat_f(), and AhrsVectornav::vn_data.

Referenced by ahrs_vectornav_event().

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send_vn_info()

static void send_vn_info ( struct transport_tx *  trans, struct link_device *  dev  )

static

Definition at line 39 of file ahrs_vectornav.c.

References ahrs_vn, VNPacket::chksm_error, VNPacket::counter, dev, VNData::err, VNPacket::hdr_error, VNData::mode, FloatEulers::phi, FloatEulers::psi, FloatEulers::theta, VNData::timestamp, AhrsVectornav::vn_data, AhrsVectornav::vn_freq, AhrsVectornav::vn_packet, and VNData::ypr_u.

Referenced by ahrs_vectornav_init().

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Variable Documentation

ahrs_vn

struct AhrsVectornav ahrs_vn

Definition at line 1 of file ahrs_vectornav.c.

Referenced by ahrs_vectornav_event(), ahrs_vectornav_init(), ahrs_vectornav_propagate(), send_euler(), and send_vn_info().