Paparazzi UAS  v5.15_devel-88-gb3ad7fe
Paparazzi is a free software Unmanned Aircraft System.
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pose_history.h
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1 /*
2  * Copyright (C) Roland Meertens
3  *
4  * This file is part of paparazzi
5  *
6  * paparazzi is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License as published by
8  * the Free Software Foundation; either version 2, or (at your option)
9  * any later version.
10  *
11  * paparazzi is distributed in the hope that it will be useful,
12  * but WITHOUT ANY WARRANTY; without even the implied warranty of
13  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14  * GNU General Public License for more details.
15  *
16  * You should have received a copy of the GNU General Public License
17  * along with paparazzi; see the file COPYING. If not, see
18  * <http://www.gnu.org/licenses/>.
19  */
26 #ifndef POSE_HISTORY_H
27 #define POSE_HISTORY_H
28 
30 
31 struct pose_t {
34  struct FloatRates rates;
35 };
36 
37 extern void pose_init(void);
38 extern void pose_periodic(void);
40 #endif
41 
struct FloatRates rates
Definition: pose_history.h:34
void pose_periodic(void)
Records the pose history 512 times per second.
Definition: pose_history.c:95
euler angles
Paparazzi floating point algebra.
struct FloatEulers eulers
Definition: pose_history.h:33
unsigned long uint32_t
Definition: types.h:18
uint32_t timestamp
Definition: pose_history.h:32
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 cl...
Definition: pose_history.c:53
void pose_init(void)
Initialises the pose history.
Definition: pose_history.c:85
angular rates