Paparazzi UAS  v4.0.4_stable-3-gf39211a
Paparazzi is a free software Unmanned Aircraft System.
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ahrs_int_cmpl_quat.h
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1 /*
2  * Copyright (C) 2011 The Paparazzi Team
3  *
4  * This file is part of paparazzi.
5  *
6  * paparazzi is free software; you can redistribute it and/or modify
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14  * GNU General Public License for more details.
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20  */
21 
22 #ifndef AHRS_INT_CMPL_H
23 #define AHRS_INT_CMPL_H
24 
25 #include "subsystems/ahrs.h"
26 #include "std.h"
27 #include "math/pprz_algebra_int.h"
28 
29 struct AhrsIntCmpl {
39 };
40 
41 extern struct AhrsIntCmpl ahrs_impl;
42 
43 
48 void ahrs_update_heading(int32_t heading);
49 
55 void ahrs_realign_heading(int32_t heading);
56 
57 #ifdef AHRS_UPDATE_FW_ESTIMATOR
58 // TODO copy ahrs to state instead of estimator
59 void ahrs_update_fw_estimator(void);
60 extern float ins_roll_neutral;
61 extern float ins_pitch_neutral;
62 #endif
63 
64 
65 #endif /* AHRS_INT_CMPL_H */
void ahrs_update_heading(int32_t heading)
Update yaw based on a heading measurement.
bool_t use_gravity_heuristic
Attitude and Heading Reference System interface.
struct Int32Rates gyro_bias
bool_t heading_aligned
void ahrs_realign_heading(int32_t heading)
Hard reset yaw to a heading.
struct Int32Rates rate_correction
bool_t ltp_vel_norm_valid
struct Int64Rates high_rez_bias
bool_t correct_gravity
angular rates
float ins_pitch_neutral
Definition: ins_arduimu.c:15
signed long int32_t
Definition: types.h:19
void ahrs_update_fw_estimator(void)
float ins_roll_neutral
Definition: ins_arduimu.c:14
int32_t ltp_vel_norm
struct Int64Quat high_rez_quat
struct AhrsIntCmpl ahrs_impl
Paparazzi fixed point algebra.