Paparazzi UAS  v4.0.4_stable-3-gf39211a
Paparazzi is a free software Unmanned Aircraft System.
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ins.c File Reference
#include "subsystems/ins.h"
#include "subsystems/imu.h"
#include "subsystems/sensors/baro.h"
#include "subsystems/gps.h"
#include "generated/airframe.h"
#include "math/pprz_algebra_int.h"
#include "math/pprz_algebra_float.h"
#include "subsystems/ahrs.h"
#include "math/pprz_geodetic_int.h"
#include "generated/flight_plan.h"
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Functions

void ins_init ()
 
void ins_periodic (void)
 
void ins_realign_h (struct FloatVect2 pos __attribute__((unused)), struct FloatVect2 speed __attribute__((unused)))
 
void ins_realign_v (float z)
 
void ins_propagate ()
 
void ins_update_baro ()
 
void ins_update_gps (void)
 
void ins_update_sonar ()
 

Variables

struct LtpDef_i ins_ltp_def
 
bool_t ins_ltp_initialised
 
struct NedCoor_i ins_gps_pos_cm_ned
 
struct NedCoor_i ins_gps_speed_cm_s_ned
 
bool_t ins_hf_realign
 
bool_t ins_vf_realign
 
struct NedCoor_i ins_ltp_pos
 
struct NedCoor_i ins_ltp_speed
 
struct NedCoor_i ins_ltp_accel
 
struct EnuCoor_i ins_enu_pos
 
struct EnuCoor_i ins_enu_speed
 
struct EnuCoor_i ins_enu_accel
 

Function Documentation

void ins_periodic ( void  )

Definition at line 124 of file ins.c.

void ins_realign_h ( struct FloatVect2 pos   __attribute__(unused),
struct FloatVect2 speed   __attribute__(unused) 
)

Definition at line 132 of file ins.c.

Referenced by track_event().

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void ins_realign_v ( float  z)

Definition at line 136 of file ins.c.

References vff_realign().

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void ins_update_baro ( void  )
void ins_update_sonar ( void  )

Definition at line 268 of file ins.c.

References Baro::absolute, baro, BS_RUNNING, sonar_meas, and Baro::status.

Variable Documentation

struct EnuCoor_i ins_enu_accel

Definition at line 82 of file ins.c.

Referenced by ins_init(), ins_propagate(), ins_update_baro(), and ins_update_gps().

struct EnuCoor_i ins_enu_speed

Definition at line 81 of file ins.c.

Referenced by ins_init(), ins_propagate(), ins_update_baro(), and ins_update_gps().

struct NedCoor_i ins_gps_pos_cm_ned

Definition at line 55 of file ins.c.

Referenced by ins_update_gps().

struct NedCoor_i ins_gps_speed_cm_s_ned

Definition at line 56 of file ins.c.

Referenced by ins_update_gps().

bool_t ins_hf_realign

Definition at line 62 of file ins.c.

Referenced by ins_init(), ins_update_gps(), nav_reset_reference(), and track_event().

struct LtpDef_i ins_ltp_def

Definition at line 53 of file ins.c.

Referenced by dl_parse_msg(), ins_init(), ins_update_gps(), nav_periodic_task(), and nav_reset_alt().

bool_t ins_ltp_initialised

Definition at line 54 of file ins.c.

Referenced by ins_init(), ins_update_gps(), nav_reset_reference(), track_event(), and track_init().

bool_t ins_vf_realign

Definition at line 74 of file ins.c.

Referenced by ins_init(), ins_update_baro(), nav_reset_alt(), and nav_reset_reference().