Paparazzi UAS  v5.15_devel-88-gb3ad7fe
Paparazzi is a free software Unmanned Aircraft System.
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pose_history.h File Reference
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Data Structures

struct  pose_t
 

Functions

void pose_init (void)
 Initialises the pose history. More...
 
void pose_periodic (void)
 Records the pose history 512 times per second. More...
 
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...
 

Detailed Description

Author
Roland Meertens Ask this module for the pose the drone had closest to a given timestamp

Definition in file pose_history.h.


Data Structure Documentation

struct pose_t

Definition at line 31 of file pose_history.h.

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Data Fields
struct FloatEulers eulers
struct FloatRates rates
uint32_t timestamp

Function Documentation

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.

Definition at line 53 of file pose_history.c.

References pose_t::eulers, location_history, pose_t::rates, rotation_history_ring_buffer_t::ring_data, rotation_history_ring_buffer_t::ring_size, and pose_t::timestamp.

Referenced by opticflow_module_calc(), and save_shot_on_disk().

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void pose_init ( void  )
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.

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