Paparazzi UAS
v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
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Xsens as a full INS solution. More...
#include "ins_xsens.h"
#include "modules/ins/ins.h"
#include "generated/airframe.h"
#include "mcu_periph/sys_time.h"
#include "modules/core/abi.h"
#include "state.h"
Go to the source code of this file.
Macros | |
#define | INS_XSENS_GPS_ID GPS_MULTI_ID |
ABI binding for gps data. More... | |
Functions | |
static void | handle_ins_msg (void) |
static void | update_state_interface (void) |
static void | gps_cb (uint8_t sender_id, uint32_t stamp, struct GpsState *gps_s) |
void | ins_xsens_init (void) |
void | ins_xsens_event (void) |
Variables | |
static abi_event | gps_ev |
float | ins_pitch_neutral |
float | ins_roll_neutral |
Xsens as a full INS solution.
Definition in file ins_xsens.c.
#define INS_XSENS_GPS_ID GPS_MULTI_ID |
Definition at line 87 of file ins_xsens.c.
References UtmCoor_f::alt, GpsState::hmsl, nav_utm_zone0, ned_vel_float_from_gps(), stateSetPositionUtm_f(), stateSetSpeedNed_f(), and utm_float_from_gps().
Referenced by ins_xsens_init().
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Definition at line 150 of file ins_xsens.c.
Referenced by ins_xsens_event().
void ins_xsens_event | ( | void | ) |
Definition at line 77 of file ins_xsens.c.
References FALSE, handle_ins_msg(), XsensParser::msg_received, parse_xsens_msg(), Xsens::parser, xsens, and xsens_parser_event().
void ins_xsens_init | ( | void | ) |
Definition at line 63 of file ins_xsens.c.
References gps_cb(), gps_ev, ins_pitch_neutral, INS_PITCH_NEUTRAL_DEFAULT, ins_roll_neutral, INS_ROLL_NEUTRAL_DEFAULT, INS_XSENS_GPS_ID, nav_utm_east0, nav_utm_north0, nav_utm_zone0, stateSetLocalUtmOrigin_f(), stateSetPositionUtm_f(), and xsens_init().
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Definition at line 123 of file ins_xsens.c.
References Xsens::euler, Xsens::gyro, ins_pitch_neutral, ins_roll_neutral, FloatRates::p, FloatEulers::phi, FloatEulers::psi, FloatRates::q, FloatRates::r, stateSetBodyRates_f(), stateSetNedToBodyEulers_f(), FloatEulers::theta, and xsens.
Referenced by handle_ins_msg().
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Definition at line 52 of file ins_xsens.c.
Referenced by ins_xsens_init().
float ins_pitch_neutral |
Definition at line 54 of file ins_xsens.c.
Referenced by ins_xsens_init(), and update_state_interface().
float ins_roll_neutral |
Definition at line 55 of file ins_xsens.c.
Referenced by ins_xsens_init(), and update_state_interface().