Paparazzi UAS  v4.0.4_stable-3-gf39211a
Paparazzi is a free software Unmanned Aircraft System.
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ahrs_float_cmpl.h
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23 
24 #ifndef AHRS_FLOAT_CMPL_RMAT
25 #define AHRS_FLOAT_CMPL_RMAT
26 
27 #include "std.h"
28 
32  /* for gravity correction during coordinated turns */
33  float ltp_vel_norm;
36 
38 
39  /*
40  Holds float version of IMU alignement
41  in order to be able to run against the fixed point
42  version of the IMU
43  */
46 };
47 
48 extern struct AhrsFloatCmplRmat ahrs_impl;
49 
50 
55 void ahrs_update_heading(float heading);
56 
62 void ahrs_realign_heading(float heading);
63 
64 #ifdef AHRS_UPDATE_FW_ESTIMATOR
65 // TODO copy ahrs to state instead of estimator
66 void ahrs_update_fw_estimator(void);
67 extern float ins_roll_neutral;
68 extern float ins_pitch_neutral;
69 #endif
70 
71 
72 #endif /* AHRS_FLOAT_CMPL_RMAT */
rotation matrix
struct FloatRates gyro_bias
void ahrs_realign_heading(float heading)
Hard reset yaw to a heading.
angular rates
struct FloatQuat body_to_imu_quat
Roation quaternion.
void ahrs_update_heading(float heading)
Update yaw based on a heading measurement.
struct AhrsFloatCmplRmat ahrs_impl
float ins_pitch_neutral
Definition: ins_arduimu.c:15
void ahrs_update_fw_estimator(void)
struct FloatRates rate_correction
float ins_roll_neutral
Definition: ins_arduimu.c:14
struct FloatRMat body_to_imu_rmat