Paparazzi UAS  v4.0.4_stable-3-gf39211a
Paparazzi is a free software Unmanned Aircraft System.
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ins_arduimu_basic.c
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1 
6 #include "generated/airframe.h"
7 #include "estimator.h"
8 
9 // Arduimu empty implementation
11 
15 
19 
20 // Updates from Ocaml sim
21 extern float sim_phi;
22 extern float sim_theta;
23 extern float sim_p;
24 extern float sim_q;
25 extern float sim_r;
26 
27 void ArduIMU_init( void ) {}
28 void ArduIMU_periodic( void ) {
29  // Feed directly the estimator
35 }
36 void ArduIMU_periodicGPS( void ) {}
37 void ArduIMU_event( void ) {}
float sim_q
in radians/s
Definition: jsbsim_ahrs.c:15
float estimator_theta
pitch angle in rad, + = up
Definition: estimator.c:51
float estimator_q
Definition: estimator.c:55
float estimator_r
Definition: estimator.c:56
angular rates
float estimator_phi
roll angle in rad, + = right
Definition: estimator.c:49
float sim_phi
in radians
Definition: jsbsim_ahrs.c:11
euler angles
float estimator_p
Definition: estimator.c:54
struct FloatVect3 arduimu_accel
struct FloatEulers arduimu_eulers
ArduIMU simulation.
void ArduIMU_init(void)
struct FloatRates arduimu_rates
float sim_p
in radians/s
Definition: jsbsim_ahrs.c:14
float ins_roll_neutral
void ArduIMU_periodic(void)
void ArduIMU_periodicGPS(void)
float sim_theta
in radians
Definition: jsbsim_ahrs.c:12
State estimation, fusioning sensors.
float ins_pitch_neutral
void ArduIMU_event(void)
float sim_r
in radians/s
Definition: jsbsim_ahrs.c:16
bool_t arduimu_calibrate_neutrals