Paparazzi UAS  v5.15_devel-112-g521f3cf
Paparazzi is a free software Unmanned Aircraft System.
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ins_skeleton.h File Reference

Paparazzi specific wrapper to run simple module based INS. More...

#include "std.h"
#include "math/pprz_geodetic_int.h"
#include "math/pprz_algebra_int.h"
#include "math/pprz_orientation_conversion.h"
#include "subsystems/ins.h"
#include "subsystems/gps.h"
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Data Structures

struct  InsModuleInt
 Ins implementation state (fixed point) More...
 

Functions

void ins_module_wrapper_init (void)
 
void ins_module_init (void)
 
void ins_module_propagate (struct Int32Vect3 *accel, float dt)
 
void ins_module_update_gps (struct GpsState *gps_s, float dt)
 
void ins_module_update_baro (float pressure)
 
void ins_module_reset_local_origin (void)
 

Variables

struct InsModuleInt ins_module
 global INS state More...
 

Detailed Description

Paparazzi specific wrapper to run simple module based INS.

Definition in file ins_skeleton.h.


Data Structure Documentation

struct InsModuleInt

Ins implementation state (fixed point)

Definition at line 40 of file ins_skeleton.h.

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Data Fields
struct OrientationReps body_to_imu body_to_imu rotation
struct GpsState gps internal copy of last GPS message
struct NedCoor_i ltp_accel
struct LtpDef_i ltp_def
bool ltp_initialized
struct NedCoor_i ltp_pos position in m in BFP with INT32_POS_FRAC
struct NedCoor_i ltp_speed velocity in m/s in BFP with INT32_SPEED_FRAC

Function Documentation

void ins_module_init ( void  )

Definition at line 79 of file ins_skeleton.c.

Referenced by ins_module_wrapper_init().

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void ins_module_propagate ( struct Int32Vect3 accel,
float  dt 
)

Definition at line 115 of file ins_skeleton.c.

References InsModuleInt::body_to_imu, ins_module, int32_rmat_transp_vmult(), InsModuleInt::ltp_accel, orientationGetRMat_i(), stateGetNedToBodyRMat_i(), stateSetAccelBody_i(), and VECT3_COPY.

Referenced by accel_cb().

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void ins_module_reset_local_origin ( void  )

Definition at line 128 of file ins_skeleton.c.

Referenced by ins_reset_local_origin().

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void ins_module_update_baro ( float  pressure)

Definition at line 83 of file ins_skeleton.c.

Referenced by baro_cb().

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Variable Documentation