Paparazzi UAS  v4.0.4_stable-3-gf39211a
Paparazzi is a free software Unmanned Aircraft System.
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ins.h
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1 /*
2  * Copyright (C) 2008-2010 The Paparazzi Team
3  *
4  * This file is part of paparazzi.
5  *
6  * paparazzi is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License as published by
8  * the Free Software Foundation; either version 2, or (at your option)
9  * any later version.
10  *
11  * paparazzi is distributed in the hope that it will be useful,
12  * but WITHOUT ANY WARRANTY; without even the implied warranty of
13  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14  * GNU General Public License for more details.
15  *
16  * You should have received a copy of the GNU General Public License
17  * along with paparazzi; see the file COPYING. If not, write to
18  * the Free Software Foundation, 59 Temple Place - Suite 330,
19  * Boston, MA 02111-1307, USA.
20  */
21 
22 #ifndef INS_H
23 #define INS_H
24 
25 #include "std.h"
26 #include "math/pprz_geodetic_int.h"
28 
29 /* gps transformed to LTP-NED */
30 extern struct LtpDef_i ins_ltp_def;
31 extern bool_t ins_ltp_initialised;
32 extern struct NedCoor_i ins_gps_pos_cm_ned;
33 extern struct NedCoor_i ins_gps_speed_cm_s_ned;
34 
35 /* barometer */
36 #if USE_VFF
37 extern int32_t ins_baro_alt;
38 extern int32_t ins_qfe;
39 extern bool_t ins_baro_initialised;
40 #if USE_SONAR
41 extern bool_t ins_update_on_agl; /* use sonar to update agl if available */
42 extern int32_t ins_sonar_offset;
43 #endif
44 #endif
45 
46 /* output LTP NED */
47 extern struct NedCoor_i ins_ltp_pos;
48 extern struct NedCoor_i ins_ltp_speed;
49 extern struct NedCoor_i ins_ltp_accel;
50 /* output LTP ENU */
51 extern struct EnuCoor_i ins_enu_pos;
52 extern struct EnuCoor_i ins_enu_speed;
53 extern struct EnuCoor_i ins_enu_accel;
54 #if USE_HFF
55 /* horizontal gps transformed to NED in meters as float */
56 extern struct FloatVect2 ins_gps_pos_m_ned;
57 extern struct FloatVect2 ins_gps_speed_m_s_ned;
58 #endif
59 
60 extern bool_t ins_hf_realign;
61 extern bool_t ins_vf_realign;
62 
63 extern void ins_init( void );
64 extern void ins_periodic( void );
65 extern void ins_realign_h(struct FloatVect2 pos, struct FloatVect2 speed);
66 extern void ins_realign_v(float z);
67 extern void ins_propagate( void );
68 extern void ins_update_baro( void );
69 extern void ins_update_gps( void );
70 extern void ins_update_sonar( void );
71 
72 
73 #endif /* INS_H */
struct NedCoor_i ins_ltp_accel
Definition: ins.c:79
bool_t ins_ltp_initialised
Definition: ins.c:54
bool_t ins_hf_realign
Definition: ins.c:62
void ins_update_gps(void)
Definition: ins.c:209
struct EnuCoor_i ins_enu_accel
Definition: ins.c:82
vector in North East Down coordinates
definition of the local (flat earth) coordinate system
Paparazzi floating point algebra.
void ins_update_baro(void)
Definition: ins.c:178
struct EnuCoor_i ins_enu_speed
Definition: ins.c:81
struct EnuCoor_i ins_enu_pos
Definition: ins.c:80
struct NedCoor_i ins_gps_speed_cm_s_ned
Definition: ins.c:56
struct NedCoor_i ins_ltp_pos
Definition: ins.c:77
Paparazzi fixed point math for geodetic calculations.
void ins_propagate(void)
Definition: ins.c:142
void ins_realign_h(struct FloatVect2 pos, struct FloatVect2 speed)
signed long int32_t
Definition: types.h:19
void ins_init(void)
Definition: fw_ins_vn100.c:38
bool_t ins_vf_realign
Definition: ins.c:74
void ins_periodic(void)
Definition: ins.c:124
int32_t speed
struct NedCoor_i ins_gps_pos_cm_ned
Definition: ins.c:55
vector in East North Up coordinates
void ins_update_sonar(void)
Definition: ins.c:268
void ins_realign_v(float z)
Definition: ins.c:136
struct LtpDef_i ins_ltp_def
Definition: ins.c:53
struct NedCoor_i ins_ltp_speed
Definition: ins.c:78