Paparazzi UAS  v5.15_devel-88-gb3ad7fe
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imu_vectornav.h
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1 /*
2  * Copyright (C) 2016 Michal Podhradsky, michal.podhradsky@aggiemail.usu.edu
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, write to
18  * the Free Software Foundation, 59 Temple Place - Suite 330,
19  * Boston, MA 02111-1307, USA.
20  *
21  */
22 
29 #ifndef IMU_VECTORNAV_H
30 #define IMU_VECTORNAV_H
31 
32 // Subsystem
33 #include "subsystems/imu.h"
34 
35 // Peripheral
37 
38 
39 struct ImuVectornav {
40  // Packet data
42  struct VNData vn_data;
44  float vn_freq;
45 };
46 
47 
48 extern struct ImuVectornav imu_vn;
49 
50 void imu_vectornav_init(void);
51 void imu_vectornav_event(void);
52 void imu_vectornav_periodic(void);
53 void imu_vectornav_propagate(void);
54 
55 /* no scaling (the WEAK attribute has no effect */
56 #ifndef IMU_GYRO_P_SENS_NUM
57 #define IMU_GYRO_P_SENS_NUM 1
58 #endif
59 
60 #ifndef IMU_GYRO_P_SENS_DEN
61 #define IMU_GYRO_P_SENS_DEN 1
62 #endif
63 
64 #ifndef IMU_GYRO_Q_SENS_NUM
65 #define IMU_GYRO_Q_SENS_NUM 1
66 #endif
67 
68 #ifndef IMU_GYRO_Q_SENS_DEN
69 #define IMU_GYRO_Q_SENS_DEN 1
70 #endif
71 
72 #ifndef IMU_GYRO_R_SENS_NUM
73 #define IMU_GYRO_R_SENS_NUM 1
74 #endif
75 
76 #ifndef IMU_GYRO_R_SENS_DEN
77 #define IMU_GYRO_R_SENS_DEN 1
78 #endif
79 
80 #endif /* IMU_VECTORNAV_H */
struct ImuVectornav imu_vn
Definition: imu_vectornav.c:40
float vn_freq
data frequency
Definition: imu_vectornav.h:44
enum VNStatus vn_status
VN status.
Definition: imu_vectornav.h:43
Vectornav VN-200 INS subsystem.
struct VNPacket vn_packet
Packet struct.
Definition: imu_vectornav.h:41
void imu_vectornav_event(void)
Event function to read and parse data from the serial port.
VNStatus
Definition: vn200_serial.h:78
Inertial Measurement Unit interface.
void imu_vectornav_propagate(void)
Send ABI messages.
void imu_vectornav_periodic(void)
Periodic function checks for the frequency of packets, triggers warning in case the IMU stops sending...
void imu_vectornav_init(void)
Init IMU struct and set up ABI messages.
Definition: imu_vectornav.c:80
struct VNData vn_data
Data struct.
Definition: imu_vectornav.h:42