Paparazzi UAS  v5.15_devel-113-g1b57ff1
Paparazzi is a free software Unmanned Aircraft System.
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xsens.h
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2  * Copyright (C) 2010 ENAC
3  *
4  * This file is part of paparazzi.
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22 
27 #ifndef XSENS_H
28 #define XSENS_H
29 
30 #include "std.h"
33 #include "math/pprz_geodetic_int.h"
34 
35 #include "xsens_parser.h"
36 
37 
38 #if USE_GPS_XSENS
39 #include "subsystems/gps.h"
40 #endif
41 
42 struct XsensTime {
50 };
51 
52 struct Xsens {
53  struct XsensTime time;
55 
56  struct FloatRates gyro;
57  struct FloatVect3 accel;
58  struct FloatVect3 mag;
59 
60  struct LlaCoor_f lla_f;
61  struct FloatVect3 vel;
62 
63  struct FloatQuat quat;
65 
67  volatile bool new_attitude;
68 
72 
73 #if USE_GPS_XSENS
74  struct GpsState gps;
75  bool gps_available;
76 #endif
77 };
78 
79 extern struct Xsens xsens;
80 
81 extern void xsens_init(void);
82 extern void xsens_periodic(void);
83 extern void parse_xsens_msg(void);
84 
85 #endif /* XSENS_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
void parse_xsens_msg(void)
Definition: xsens.c:184
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 XsensParser parser
Definition: xsens.h:66
struct Xsens xsens
Definition: xsens.c:109
signed long int32_t
Definition: types.h:19
void xsens_periodic(void)
Definition: xsens.c:124
struct FloatVect3 mag
Definition: xsens.h:58
int32_t nanosec
Definition: xsens.h:46
Definition: xsens.h:52
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
void xsens_init(void)
Definition: xsens.c:113
struct FloatQuat quat
Definition: xsens.h:63
bool gyro_available
Definition: xsens.h:69
struct GpsState gps
global GPS state
Definition: gps.c:69
angular rates
volatile bool new_attitude
Definition: xsens.h:67