Paparazzi UAS  v5.15_devel-81-gd13dafb
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dw1000_arduino.h
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1 /*
2  * Copyright (C) 2017 Gautier Hattenberger <gautier.hattenberger@enac.fr>
3  *
4  * This file is part of paparazzi
5  *
6  * paparazzi is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License as published by
8  * the Free Software Foundation; either version 2, or (at your option)
9  * any later version.
10  *
11  * paparazzi is distributed in the hope that it will be useful,
12  * but WITHOUT ANY WARRANTY; without even the implied warranty of
13  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14  * GNU General Public License for more details.
15  *
16  * You should have received a copy of the GNU General Public License
17  * along with paparazzi; see the file COPYING. If not, see
18  * <http://www.gnu.org/licenses/>.
19  */
26 #ifndef DW1000_ARDUINO_H
27 #define DW1000_ARDUINO_H
28 
29 #include "std.h"
30 
32 extern bool dw1000_use_ekf;
33 
35 extern float dw1000_ekf_q;
36 extern float dw1000_ekf_r_dist;
37 extern float dw1000_ekf_r_speed;
39 extern void dw1000_arduino_update_ekf_q(float v);
40 extern void dw1000_arduino_update_ekf_r_dist(float v);
41 extern void dw1000_arduino_update_ekf_r_speed(float v);
42 
43 extern void dw1000_arduino_init(void);
44 extern void dw1000_arduino_periodic(void);
45 extern void dw1000_arduino_report(void);
46 extern void dw1000_arduino_event(void);
47 
51 extern void dw1000_reset_heading_ref(void);
52 
53 // when used as a GPS
54 #ifndef PRIMARY_GPS
55 #define PRIMARY_GPS GPS_DW1000
56 #endif
57 
58 #endif
59 
void dw1000_reset_heading_ref(void)
Reset reference heading to current heading AHRS/INS should be aligned before calling this function...
void dw1000_arduino_update_ekf_r_speed(float v)
float dw1000_ekf_r_dist
void dw1000_arduino_update_ekf_r_dist(float v)
float dw1000_ekf_r_speed
void dw1000_arduino_update_ekf_q(float v)
settings handler
void dw1000_arduino_init(void)
bool dw1000_use_ekf
enable EKF filtering
void dw1000_arduino_periodic(void)
float dw1000_ekf_q
process and measurements noise
void dw1000_arduino_report(void)
void dw1000_arduino_event(void)