Paparazzi UAS
v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
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#include "modules/pose_history/pose_history.h"
#include <sys/time.h>
#include "mcu_periph/sys_time.h"
#include "state.h"
Go to the source code of this file.
Data Structures | |
struct | rotation_history_ring_buffer_t |
Macros | |
#define | POSE_HISTORY_SIZE 1024 |
Functions | |
struct pose_t | get_rotation_at_timestamp (uint32_t timestamp) |
Given a pprz timestamp in used (obtained with get_sys_time_usec) we return the pose in FloatEulers closest to that time. More... | |
void | pose_init () |
Initialises the pose history. More... | |
void | pose_periodic () |
Records the pose history 512 times per second. More... | |
Variables | |
struct rotation_history_ring_buffer_t | location_history |
Definition in file pose_history.c.
struct rotation_history_ring_buffer_t |
Definition at line 38 of file pose_history.c.
Data Fields | ||
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struct pose_t | ring_data[POSE_HISTORY_SIZE] | |
uint32_t | ring_index | |
uint32_t | ring_size |
#define POSE_HISTORY_SIZE 1024 |
Definition at line 35 of file pose_history.c.
Given a pprz timestamp in used (obtained with get_sys_time_usec) we return the pose in FloatEulers closest to that time.
Definition at line 1 of file pose_history.c.
Referenced by opticflow_module_calc(), and save_shot_on_disk().
void pose_init | ( | void | ) |
Initialises the pose history.
Definition at line 85 of file pose_history.c.
References location_history, POSE_HISTORY_SIZE, rotation_history_ring_buffer_t::ring_index, and rotation_history_ring_buffer_t::ring_size.
void pose_periodic | ( | void | ) |
Records the pose history 512 times per second.
Time gets saved in pprz usec, obtained with get_sys_time_usec();
Definition at line 95 of file pose_history.c.
References pose_t::eulers, get_sys_time_usec(), location_history, pose_t::rates, rotation_history_ring_buffer_t::ring_data, rotation_history_ring_buffer_t::ring_index, rotation_history_ring_buffer_t::ring_size, stateGetBodyRates_f(), stateGetNedToBodyEulers_f(), and pose_t::timestamp.
struct rotation_history_ring_buffer_t location_history |
Definition at line 1 of file pose_history.c.
Referenced by pose_init(), and pose_periodic().