Paparazzi UAS  v5.15_devel-88-gb3ad7fe
Paparazzi is a free software Unmanned Aircraft System.
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ins_alt_float.h
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1 /*
2  * Copyright (C) 2004-2006 Pascal Brisset, Antoine Drouin
3  * Copyright (C) 2012 Gautier Hattenberger
4  *
5  * This file is part of paparazzi.
6  *
7  * paparazzi is free software; you can redistribute it and/or modify
8  * it under the terms of the GNU General Public License as published by
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10  * any later version.
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15  * GNU General Public License for more details.
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21  */
22 
28 #ifndef INS_ALT_FLOAT_H
29 #define INS_ALT_FLOAT_H
30 
31 #include "subsystems/ins.h"
32 
33 #include <inttypes.h>
34 #include "std.h"
35 
37 struct InsAltFloat {
38  float alt;
39  float alt_dot;
40 
43 
44 #if USE_BAROMETER
45  float qfe;
46  float baro_alt;
48 #endif
49 };
50 
51 extern struct InsAltFloat ins_altf;
52 
53 extern void ins_alt_float_init(void);
54 extern void ins_alt_float_update_baro(float pressure);
55 
56 #endif /* INS_ALT_FLOAT_H */
void ins_alt_float_update_baro(float pressure)
Integrated Navigation System interface.
float alt
estimated altitude above MSL in meters
Definition: ins_alt_float.h:38
struct InsAltFloat ins_altf
Definition: ins_alt_float.c:53
Ins implementation state (altitude, float)
Definition: ins_alt_float.h:37
bool reset_alt_ref
flag to request reset of altitude reference to current alt
Definition: ins_alt_float.h:41
bool baro_initialized
Definition: ins_alt_float.h:47
float baro_alt
Definition: ins_alt_float.h:46
void ins_alt_float_init(void)
float alt_dot
estimated vertical speed in m/s (positive-up)
Definition: ins_alt_float.h:39
bool origin_initialized
TRUE if UTM origin was initialized.
Definition: ins_alt_float.h:42