Paparazzi UAS  v5.15_devel-88-gb3ad7fe
Paparazzi is a free software Unmanned Aircraft System.
 All Data Structures Namespaces Files Functions Variables Typedefs Enumerations Enumerator Macros Modules Pages
imu_vectornav.h File Reference

Vectornav VN-200 IMU subsystems, to be used with other AHRS/INS algorithms. More...

+ Include dependency graph for imu_vectornav.h:
+ This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Data Structures

struct  ImuVectornav
 

Macros

#define IMU_GYRO_P_SENS_NUM   1
 
#define IMU_GYRO_P_SENS_DEN   1
 
#define IMU_GYRO_Q_SENS_NUM   1
 
#define IMU_GYRO_Q_SENS_DEN   1
 
#define IMU_GYRO_R_SENS_NUM   1
 
#define IMU_GYRO_R_SENS_DEN   1
 

Functions

void imu_vectornav_init (void)
 Init IMU struct and set up ABI messages. More...
 
void imu_vectornav_event (void)
 Event function to read and parse data from the serial port. More...
 
void imu_vectornav_periodic (void)
 Periodic function checks for the frequency of packets, triggers warning in case the IMU stops sending data and performs initial configuration if needed. More...
 
void imu_vectornav_propagate (void)
 Send ABI messages. More...
 

Variables

struct ImuVectornav imu_vn
 

Detailed Description

Vectornav VN-200 IMU subsystems, to be used with other AHRS/INS algorithms.

Definition in file imu_vectornav.h.


Data Structure Documentation

struct ImuVectornav

Definition at line 39 of file imu_vectornav.h.

+ Collaboration diagram for ImuVectornav:
Data Fields
struct VNData vn_data Data struct.
float vn_freq data frequency
struct VNPacket vn_packet Packet struct.
enum VNStatus vn_status VN status.

Macro Definition Documentation

#define IMU_GYRO_P_SENS_DEN   1

Definition at line 61 of file imu_vectornav.h.

#define IMU_GYRO_P_SENS_NUM   1

Definition at line 57 of file imu_vectornav.h.

#define IMU_GYRO_Q_SENS_DEN   1

Definition at line 69 of file imu_vectornav.h.

#define IMU_GYRO_Q_SENS_NUM   1

Definition at line 65 of file imu_vectornav.h.

#define IMU_GYRO_R_SENS_DEN   1

Definition at line 77 of file imu_vectornav.h.

#define IMU_GYRO_R_SENS_NUM   1

Definition at line 73 of file imu_vectornav.h.

Function Documentation

void imu_vectornav_event ( void  )

Event function to read and parse data from the serial port.

Definition at line 109 of file imu_vectornav.c.

References imu_vectornav_propagate(), imu_vn, VNPacket::msg_available, vn200_event(), vn200_read_message(), ImuVectornav::vn_data, and ImuVectornav::vn_packet.

+ Here is the call graph for this function:

void imu_vectornav_periodic ( void  )

Periodic function checks for the frequency of packets, triggers warning in case the IMU stops sending data and performs initial configuration if needed.

Definition at line 128 of file imu_vectornav.c.

References VNPacket::counter, imu_vn, ImuVectornav::vn_freq, ImuVectornav::vn_packet, ImuVectornav::vn_status, VNNotTracking, and VNOK.

void imu_vectornav_propagate ( void  )

Send ABI messages.

Definition at line 149 of file imu_vectornav.c.

References Imu::accel, VNData::accel, ACCELS_BFP_OF_REAL, Imu::gyro, VNData::gyro, imu, IMU_VECTORNAV_ID, imu_vn, VNData::nanostamp, RATES_BFP_OF_REAL, and ImuVectornav::vn_data.

Referenced by imu_vectornav_event().

+ Here is the caller graph for this function:

Variable Documentation