Paparazzi UAS  v5.15_devel-47-g0391b4d
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ahrs_vectornav.h File Reference

Vectornav VN-200 as AHRS. More...

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Data Structures

struct  AhrsVectornav


void ahrs_vectornav_init (void)
 Initialize Vectornav struct. More...
void ahrs_vectornav_event (void)
 Event handling for Vectornav. More...
void ahrs_vectornav_propagate (void)
 Read received data. More...


struct AhrsVectornav ahrs_vn

Detailed Description

Vectornav VN-200 as AHRS.

Michal Podhradsky

Definition in file ahrs_vectornav.h.

Data Structure Documentation

struct AhrsVectornav

Definition at line 47 of file ahrs_vectornav.h.

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Data Fields
struct Int32Vect3 accel_i
struct OrientationReps body_to_imu body_to_imu rotation
struct Int32Rates gyro_i
uint16_t vn_chksm aux variable for checksum
struct VNData vn_data Data struct.
float vn_freq data frequency
struct VNPacket vn_packet Packet struct.
enum VNStatus vn_status VN status.

Function Documentation

void ahrs_vectornav_propagate ( void  )

Read received data.

Definition at line 123 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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Variable Documentation