sensors_hitl.h File Reference

#include "std.h"

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Macros
#define	PRIMARY_GPS   GPS_SIM

Functions
void	sensors_hitl_init (void)
void	sensors_hitl_periodic (void)
void	sensors_hitl_event (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	imu_feed_gyro_accel (void)
void	imu_feed_mag (void)
void	gps_feed_value (void)

Variables
bool	gps_has_fix

Macro Definition Documentation

PRIMARY_GPS

#define PRIMARY_GPS   GPS_SIM

Definition at line 27 of file sensors_hitl.h.

Function Documentation

gps_feed_value()

void gps_feed_value

(

void

)

Definition at line 32 of file gps_sim_nps.c.

References LlaCoor_i::alt, GpsState::course, GpsState::ecef_pos, GpsState::ecef_vel, fdm, GpsState::fix, get_sys_time_usec(), GPS_FIX_3D, GPS_FIX_NONE, gps_has_fix, gps_nps, GPS_SIM_ID, GPS_VALID_COURSE_BIT, GPS_VALID_HMSL_BIT, GPS_VALID_POS_ECEF_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_ecef_d(), NpsFdm::ltp_to_body_eulers, sys_time::nb_sec, sys_time::nb_sec_rem, ned_of_ecef_vect_d(), GpsState::ned_vel, GpsState::num_sv, GpsState::pacc, GpsState::pdop, DoubleEulers::psi, GpsState::sacc, sensors, GpsState::speed_3d, NpsFdm::time, GpsState::tow, GpsState::vacc, GpsState::valid_fields, GpsState::week, NedCoor_d::x, EcefCoor_i::x, NedCoor_i::x, NedCoor_d::y, EcefCoor_i::y, NedCoor_i::y, NedCoor_d::z, EcefCoor_i::z, and NedCoor_i::z.

Referenced by nps_autopilot_run_step().

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imu_feed_gyro_accel()

void imu_feed_gyro_accel

(

void

)

Definition at line 65 of file imu_nps.c.

References ImuNps::accel, ImuNps::accel_available, ImuNps::gyro, ImuNps::gyro_available, imu_nps, RATES_ASSIGN, sensors, and VECT3_COPY.

Referenced by nps_autopilot_run_step().

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imu_feed_mag()

void imu_feed_mag

(

void

)

Definition at line 76 of file imu_nps.c.

References imu_nps, ImuNps::mag, ImuNps::mag_available, sensors, and VECT3_COPY.

Referenced by nps_autopilot_run_step().

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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

extern

Definition at line 30 of file gps_sim_nps.c.

Referenced by gps_feed_value(), gps_nps_init(), on_WORLD_ENV(), sensors_hitl_init(), and sensors_hitl_parse_HITL_GPS().