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ahrs_float_cmpl.h File Reference
#include "std.h"
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Data Structures

struct  AhrsFloatCmplRmat
 

Functions

void ahrs_update_heading (float heading)
 Update yaw based on a heading measurement. More...
 
void ahrs_realign_heading (float heading)
 Hard reset yaw to a heading. More...
 

Variables

struct AhrsFloatCmplRmat ahrs_impl
 

Function Documentation

void ahrs_realign_heading ( float  heading)
void ahrs_update_heading ( float  heading)

Update yaw based on a heading measurement.

e.g. from GPS course

Parameters
headingHeading in body frame, radians (CW/north)

Definition at line 342 of file ahrs_float_cmpl.c.

References ahrs_float, ahrs_impl, FLOAT_ANGLE_NORMALIZE, FLOAT_RATES_ADD_SCALED_VECT, FLOAT_RMAT_VECT3_MUL, AhrsFloatCmplRmat::gyro_bias, AhrsFloat::ltp_to_body_rmat, AhrsFloat::ltp_to_imu_rmat, AhrsFloatCmplRmat::rate_correction, RMAT_ELMT, FloatVect2::x, FloatVect2::y, and FloatVect3::z.

Referenced by ahrs_update_gps().

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Variable Documentation

struct AhrsFloatCmplRmat ahrs_impl

Definition at line 66 of file ahrs_float_cmpl.c.