Paparazzi UAS  v5.15_devel-99-g2ff7410
Paparazzi is a free software Unmanned Aircraft System.
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xsens700.h
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22 
27 #ifndef XSENS700_H
28 #define XSENS700_H
29 
30 #include "std.h"
33 #include "math/pprz_geodetic_int.h"
34 
35 #include "xsens_parser.h"
36 
37 #if USE_GPS_XSENS
38 #include "subsystems/gps.h"
39 #endif
40 
41 struct XsensTime {
42  int8_t hour;
43  int8_t min;
44  int8_t sec;
46  int16_t year;
47  int8_t month;
48  int8_t day;
49 };
50 
51 struct Xsens {
52  struct XsensTime time;
54 
55  struct FloatRates gyro;
56  struct FloatVect3 accel;
57  struct FloatVect3 mag;
58 
59  struct LlaCoor_f lla_f;
60  struct FloatVect3 vel;
61 
62  struct FloatQuat quat;
63  struct FloatEulers euler;
64 
65  struct XsensParser parser;
66  volatile bool new_attitude;
67 
68  bool gyro_available;
69  bool accel_available;
70  bool mag_available;
71 
72 #if USE_GPS_XSENS
73  struct GpsState gps;
74  bool gps_available;
75 #endif
76 };
77 
78 extern struct Xsens xsens700;
79 
80 extern void xsens700_init(void);
81 extern void xsens700_periodic(void);
82 extern void parse_xsens700_msg(void);
83 
84 #endif /* XSENS700_H */
unsigned short uint16_t
Definition: types.h:16
int8_t month
Definition: xsens.h:48
bool accel_available
Definition: xsens.h:70
int8_t min
Definition: xsens.h:44
struct XsensTime time
Definition: xsens.h:53
struct FloatVect3 vel
NED velocity in m/s.
Definition: xsens.h:61
struct FloatVect3 accel
Definition: xsens.h:57
euler angles
Roation quaternion.
int8_t hour
Definition: xsens.h:43
Paparazzi floating point math for geodetic calculations.
vector in Latitude, Longitude and Altitude
int8_t day
Definition: xsens.h:49
Paparazzi floating point algebra.
data structure for GPS information
Definition: gps.h:87
int8_t sec
Definition: xsens.h:45
Device independent GPS code (interface)
int16_t year
Definition: xsens.h:47
uint16_t time_stamp
Definition: xsens.h:54
bool gps_available
Definition: gps_sim_hitl.c:36
signed short int16_t
Definition: types.h:17
bool mag_available
Definition: xsens.h:71
Paparazzi fixed point math for geodetic calculations.
struct Xsens xsens700
Definition: xsens700.c:49
struct XsensParser parser
Definition: xsens.h:66
signed long int32_t
Definition: types.h:19
struct FloatVect3 mag
Definition: xsens.h:58
int32_t nanosec
Definition: xsens.h:46
Definition: xsens.h:52
void parse_xsens700_msg(void)
Definition: xsens700.c:141
struct FloatEulers euler
Definition: xsens.h:64
struct LlaCoor_f lla_f
Definition: xsens.h:60
Parser for the XSens protocol.
struct FloatRates gyro
Definition: xsens.h:56
signed char int8_t
Definition: types.h:15
struct FloatQuat quat
Definition: xsens.h:63
bool gyro_available
Definition: xsens.h:69
void xsens700_periodic(void)
Definition: xsens700.c:71
struct GpsState gps
global GPS state
Definition: gps.c:69
angular rates
void xsens700_init(void)
Definition: xsens700.c:53
volatile bool new_attitude
Definition: xsens.h:67