sensors_hitl.c File Reference

#include "modules/sensors/sensors_hitl.h"
#include "modules/imu/imu.h"
#include "modules/gps/gps.h"
#include "modules/core/abi.h"
#include "modules/energy/electrical.h"
#include "generated/airframe.h"
#include "modules/datalink/datalink.h"
#include "modules/datalink/telemetry.h"
#include "nps_sensors_params_common.h"

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Data Structures
struct	ImuHitl

Functions
void	sensors_hitl_init (void)
void	sensors_hitl_periodic (void)
void	sensors_hitl_parse_HITL_IMU (uint8_t *buf)
void	sensors_hitl_parse_HITL_GPS (uint8_t *buf)
void	sensors_hitl_parse_HITL_AIR_DATA (uint8_t *buf)
void	sensors_hitl_event (void)
void	imu_feed_gyro_accel (void)
void	imu_feed_mag (void)
void	gps_feed_value (void)

Variables
struct ImuHitl	imu_hitl
struct GpsState	gps_hitl
bool	gps_has_fix
static bool	sensors_hitl_msg_available = false
static uint8_t	sensors_hitl_dl_buffer [MSG_SIZE]
static struct pprz_transport	sensors_hitl_tp

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Data Structure Documentation

ImuHitl

struct ImuHitl

Definition at line 34 of file sensors_hitl.c.

Collaboration diagram for ImuHitl:

Data Fields
struct Int32Vect3	accel
uint8_t	accel_available
struct Int32Rates	gyro
uint8_t	gyro_available
struct Int32Vect3	mag
uint8_t	mag_available

Function Documentation

gps_feed_value()

void gps_feed_value

(

void

)

Definition at line 237 of file sensors_hitl.c.

imu_feed_gyro_accel()

void imu_feed_gyro_accel

(

void

)

Definition at line 235 of file sensors_hitl.c.

imu_feed_mag()

void imu_feed_mag

(

void

)

Definition at line 236 of file sensors_hitl.c.

sensors_hitl_event()

void sensors_hitl_event

(

void

)

Definition at line 214 of file sensors_hitl.c.

References ImuHitl::accel, ImuHitl::accel_available, DlCheckAndParse(), get_sys_time_usec(), ImuHitl::gyro, ImuHitl::gyro_available, imu_hitl, IMU_NPS_ID, ImuHitl::mag, ImuHitl::mag_available, sensors_hitl_dl_buffer, sensors_hitl_msg_available, and sensors_hitl_tp.

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sensors_hitl_init()

void sensors_hitl_init

(

void

)

Definition at line 52 of file sensors_hitl.c.

References ImuHitl::accel_available, accel_neutral, accel_scale, gps_has_fix, ImuHitl::gyro_available, gyro_scale, imu_hitl, IMU_NPS_ID, imu_set_defaults_accel(), imu_set_defaults_gyro(), imu_set_defaults_mag(), ImuHitl::mag_available, mag_scale, and sensors_hitl_tp.

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sensors_hitl_parse_HITL_AIR_DATA()

void sensors_hitl_parse_HITL_AIR_DATA

(

uint8_t *

buf

)

Definition at line 191 of file sensors_hitl.c.

References AIRSPEED_NPS_ID, BARO_SIM_SENDER_ID, get_sys_time_usec(), and INCIDENCE_NPS_ID.

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sensors_hitl_parse_HITL_GPS()

void sensors_hitl_parse_HITL_GPS

(

uint8_t *

buf

)

Definition at line 124 of file sensors_hitl.c.

References LlaCoor_i::alt, GpsState::course, GpsState::ecef_vel, GpsState::fix, get_sys_time_usec(), GPS_FIX_3D, GPS_FIX_NONE, gps_has_fix, gps_hitl, GPS_SIM_ID, GPS_VALID_COURSE_BIT, GPS_VALID_HMSL_BIT, GPS_VALID_POS_LLA_BIT, GPS_VALID_VEL_ECEF_BIT, GPS_VALID_VEL_NED_BIT, GpsState::gspeed, GpsState::hacc, GpsState::hmsl, GpsState::last_3dfix_ticks, GpsState::last_3dfix_time, GpsState::last_msg_ticks, GpsState::last_msg_time, LlaCoor_i::lat, GpsState::lla_pos, LlaCoor_i::lon, ltp_def_from_lla_i(), sys_time::nb_sec, sys_time::nb_sec_rem, ned_of_ecef_vect_i(), GpsState::ned_vel, GpsState::num_sv, GpsState::pacc, GpsState::pdop, GpsState::sacc, GpsState::speed_3d, GpsState::tow, GpsState::vacc, GpsState::valid_fields, VECT3_FLOAT_OF_CM, GpsState::week, NedCoor_f::x, EcefCoor_i::x, NedCoor_i::x, NedCoor_f::y, EcefCoor_i::y, NedCoor_i::y, NedCoor_f::z, EcefCoor_i::z, and NedCoor_i::z.

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sensors_hitl_parse_HITL_IMU()

void sensors_hitl_parse_HITL_IMU

(

uint8_t *

buf

)

Definition at line 100 of file sensors_hitl.c.

References ImuHitl::accel, ImuHitl::accel_available, ImuHitl::gyro, ImuHitl::gyro_available, imu_hitl, ImuHitl::mag, ImuHitl::mag_available, RATES_ASSIGN, and VECT3_ASSIGN.

sensors_hitl_periodic()

void sensors_hitl_periodic

(

void

)

Definition at line 89 of file sensors_hitl.c.

References electrical, and Electrical::vsupply.

Variable Documentation

gps_has_fix

bool gps_has_fix

Definition at line 46 of file sensors_hitl.c.

Referenced by sensors_hitl_init(), and sensors_hitl_parse_HITL_GPS().

gps_hitl

struct GpsState gps_hitl

Definition at line 1 of file sensors_hitl.c.

Referenced by sensors_hitl_parse_HITL_GPS().

imu_hitl

struct ImuHitl imu_hitl

Definition at line 1 of file sensors_hitl.c.

Referenced by sensors_hitl_event(), sensors_hitl_init(), and sensors_hitl_parse_HITL_IMU().

sensors_hitl_dl_buffer

uint8_t sensors_hitl_dl_buffer[MSG_SIZE]

static

Definition at line 49 of file sensors_hitl.c.

Referenced by sensors_hitl_event().

sensors_hitl_msg_available

bool sensors_hitl_msg_available = false

static

Definition at line 48 of file sensors_hitl.c.

Referenced by sensors_hitl_event().

sensors_hitl_tp

struct pprz_transport sensors_hitl_tp

static

Definition at line 49 of file sensors_hitl.c.

Referenced by sensors_hitl_event(), and sensors_hitl_init().