Paparazzi UAS  v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
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 
29 #include "math/pprz_algebra_float.h"
30 
31 struct pose_t {
32  uint32_t timestamp;
33  struct FloatEulers eulers;
34  struct FloatRates rates;
35 };
36 
37 extern void pose_init(void);
38 extern void pose_periodic(void);
39 extern struct pose_t get_rotation_at_timestamp(uint32_t timestamp);
40 #endif
41 
FloatEulers
euler angles
Definition: pprz_algebra_float.h:84
FloatRates
angular rates
Definition: pprz_algebra_float.h:93
pose_t::rates
struct FloatRates rates
Definition: pose_history.h:34
pose_init
void pose_init(void)
Initialises the pose history.
Definition: pose_history.c:85
pose_periodic
void pose_periodic(void)
Records the pose history 512 times per second.
Definition: pose_history.c:95
get_rotation_at_timestamp
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
pose_t::timestamp
uint32_t timestamp
Definition: pose_history.h:32
pose_t::eulers
struct FloatEulers eulers
Definition: pose_history.h:33
pose_t
Definition: pose_history.h:31
pprz_algebra_float.h
Paparazzi floating point algebra.
uint32_t
unsigned int uint32_t
Typedef defining 32 bit unsigned int type.
Definition: vl53l1_types.h:78