67 #define VN100_ADOR VN100_ADOR_OFF
70 #define VN100_ADOF VN100_ADOF_5HZ
73 #define VN100_BAUD VN100_Baud_57600
78 #define INS_VN100_SET_BAUD 0
79 #define INS_VN100_SET_ADOR 1
80 #define INS_VN100_SET_ADOF 2
81 #define INS_VN100_READY 3
84 #define PERIODIC_SEND_AHRS(_chan, _dev) DOWNLINK_SEND_AHRS_LKF(_chan, _dev, \
85 &ins_eulers.phi, &ins_eulers.theta, &ins_eulers.psi, \
86 &ins_quat.qi, &ins_quat.qx, &ins_quat.qy, &ins_quat.qz, \
87 &ins_rates.p, &ins_rates.q, &ins_rates.r, \
88 &ins_accel.x, &ins_accel.y, &ins_accel.z, \
89 &ins_mag.x, &ins_mag.y, &ins_mag.z)
VN100_Req_Packet last_send_packet
struct FloatRMat ins_rmat
VN100_Res_Packet last_received_packet
void vn100_periodic_task(void)
void vn100_report_task(void)
void vn100_event_task(void)
struct FloatVect3 ins_mag
struct FloatVect3 ins_accel
struct FloatEulers ins_eulers
struct FloatRates ins_rates
struct FloatQuat ins_quat
volatile uint8_t ins_msg_received
Paparazzi floating point algebra.
unsigned int uint32_t
Typedef defining 32 bit unsigned int type.
unsigned char uint8_t
Typedef defining 8 bit unsigned char type.