Paparazzi UAS  v4.0.4_stable-3-gf39211a
Paparazzi is a free software Unmanned Aircraft System.
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ahrs_infrared.c File Reference
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Functions

void ahrs_init (void)
 AHRS initialization. More...
 
void ahrs_align (void)
 Aligns the AHRS. More...
 
void ahrs_propagate (void)
 Propagation. More...
 
void ahrs_update_accel (void)
 Update AHRS state with accerleration measurements. More...
 
void ahrs_update_mag (void)
 Update AHRS state with magnetometer measurements. More...
 
void ahrs_update_gps (void)
 
void ahrs_update_infrared (void)
 
void ahrs_update_fw_estimator (void)
 

Function Documentation

void ahrs_align ( void  )

Aligns the AHRS.

Called after ahrs_aligner has run to set initial attitude and biases. Must set the ahrs status to AHRS_RUNNING. Needs to be implemented by each AHRS algorithm.

Definition at line 48 of file ahrs_infrared.c.

References ahrs, AHRS_RUNNING, and Ahrs::status.

void ahrs_propagate ( void  )

Propagation.

Usually integrates the gyro rates to angles. Reads the global imu data struct. Needs to be implemented by each AHRS algorithm.

Definition at line 55 of file ahrs_infrared.c.

References ahrs_float, AhrsFloat::body_rate, Imu::gyro, imu, FloatRates::p, Int32Rates::p, FloatRates::q, Int32Rates::q, FloatRates::r, Int32Rates::r, and RATE_FLOAT_OF_BFP.

void ahrs_update_accel ( void  )

Update AHRS state with accerleration measurements.

Reads the global imu data struct. Needs to be implemented by each AHRS algorithm.

Definition at line 67 of file ahrs_infrared.c.

void ahrs_update_gps ( void  )

Definition at line 73 of file ahrs_infrared.c.

References ahrs_float, ahrs_update_fw_estimator(), GpsState::course, gps, GpsState::gspeed, AhrsFloat::ltp_to_body_euler, FloatEulers::psi, wind_east, and wind_north.

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void ahrs_update_mag ( void  )

Update AHRS state with magnetometer measurements.

Reads the global imu data struct. Needs to be implemented by each AHRS algorithm.

Definition at line 70 of file ahrs_infrared.c.