Paparazzi UAS  v5.15_devel-88-gb3ad7fe
Paparazzi is a free software Unmanned Aircraft System.
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ins_int.h
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2  * Copyright (C) 2008-2012 The Paparazzi Team
3  *
4  * This file is part of paparazzi.
5  *
6  * paparazzi is free software; you can redistribute it and/or modify
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21 
29 #ifndef INS_INT_H
30 #define INS_INT_H
31 
32 #include "subsystems/ins.h"
33 #include "subsystems/gps.h"
34 #include "std.h"
35 #include "math/pprz_geodetic_int.h"
37 
39 struct InsInt {
40  struct LtpDef_i ltp_def;
42 
44 
48  bool hf_realign;
49 
53  bool vf_reset;
54 
55  /* output LTP NED */
59 
60  /* baro */
61  float baro_z;
62  float qfe;
64 
65 #if USE_SONAR
66  bool update_on_agl;
67 #endif
68 };
69 
71 extern struct InsInt ins_int;
72 
73 extern void ins_int_init(void);
74 extern void ins_int_propagate(struct Int32Vect3 *accel, float dt);
75 extern void ins_int_update_gps(struct GpsState *gps_s);
76 
77 #endif /* INS_INT_H */
struct InsInt ins_int
global INS state
Definition: ins_int.c:166
bool vf_reset
request to reset vertical filter.
Definition: ins_int.h:53
definition of the local (flat earth) coordinate system
float qfe
Definition: ins_int.h:62
Integrated Navigation System interface.
bool baro_initialized
Definition: ins_int.h:63
void ins_int_propagate(struct Int32Vect3 *accel, float dt)
Definition: ins_int.c:292
Paparazzi floating point algebra.
data structure for GPS information
Definition: gps.h:87
Device independent GPS code (interface)
bool ltp_initialized
Definition: ins_int.h:41
unsigned long uint32_t
Definition: types.h:18
Paparazzi fixed point math for geodetic calculations.
bool hf_realign
request to realign horizontal filter.
Definition: ins_int.h:48
struct NedCoor_i ltp_pos
Definition: ins_int.h:56
struct NedCoor_i ltp_accel
Definition: ins_int.h:58
float baro_z
z-position calculated from baro in meters (z-down)
Definition: ins_int.h:61
uint32_t propagation_cnt
number of propagation steps since the last measurement update
Definition: ins_int.h:43
Ins implementation state (fixed point)
Definition: ins_int.h:39
void ins_int_init(void)
Definition: ins_int.c:203
vector in North East Down coordinates
struct LtpDef_i ltp_def
Definition: ins_int.h:40
void ins_int_update_gps(struct GpsState *gps_s)
Definition: ins_int.c:396
struct NedCoor_i ltp_speed
Definition: ins_int.h:57