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Ahrs Struct Reference

Attitude and Heading Reference System state (fixed point version) More...

#include <ahrs.h>

+ Collaboration diagram for Ahrs:

Data Fields

struct Int32Quat ltp_to_imu_quat
 Rotation from LocalTangentPlane to IMU frame as unit quaternion. More...
 
struct Int32Eulers ltp_to_imu_euler
 Rotation from LocalTangentPlane to IMU frame as Euler angles. More...
 
struct Int32RMat ltp_to_imu_rmat
 Rotation from LocalTangentPlane to IMU frame as Rotation Matrix. More...
 
struct Int32Rates imu_rate
 Rotational velocity in IMU frame. More...
 
struct Int32Quat ltp_to_body_quat
 Rotation from LocalTangentPlane to body frame as unit quaternion. More...
 
struct Int32Eulers ltp_to_body_euler
 Rotation from LocalTangentPlane to body frame as Euler angles. More...
 
struct Int32RMat ltp_to_body_rmat
 Rotation from LocalTangentPlane to body frame as Rotation Matrix. More...
 
struct Int32Rates body_rate
 Rotational velocity in body frame. More...
 
uint8_t status
 status of the AHRS, AHRS_UNINIT or AHRS_RUNNING More...
 

Detailed Description

Attitude and Heading Reference System state (fixed point version)

Definition at line 42 of file ahrs.h.

Field Documentation

struct Int32Rates Ahrs::body_rate

Rotational velocity in body frame.

Definition at line 52 of file ahrs.h.

Referenced by ahrs_init(), ahrs_update_accel(), stabilization_attitude_run(), and stabilization_rate_run().

struct Int32Rates Ahrs::imu_rate

Rotational velocity in IMU frame.

Definition at line 47 of file ahrs.h.

Referenced by ahrs_init(), and ahrs_propagate().

struct Int32Quat Ahrs::ltp_to_body_quat

Rotation from LocalTangentPlane to body frame as unit quaternion.

Definition at line 49 of file ahrs.h.

Referenced by ahrs_init(), ahrs_realign_heading(), stabilization_attitude_read_rc_absolute(), stabilization_attitude_run(), and stabilization_attitude_sp_enter().

struct Int32RMat Ahrs::ltp_to_body_rmat

Rotation from LocalTangentPlane to body frame as Rotation Matrix.

Definition at line 51 of file ahrs.h.

Referenced by ahrs_init(), ahrs_update_heading(), b2_hff_propagate(), and ins_propagate().

struct Int32Eulers Ahrs::ltp_to_imu_euler

Rotation from LocalTangentPlane to IMU frame as Euler angles.

Definition at line 45 of file ahrs.h.

Referenced by __attribute__(), ahrs_align(), ahrs_init(), ahrs_propagate(), and ahrs_update_mag().

struct Int32Quat Ahrs::ltp_to_imu_quat

Rotation from LocalTangentPlane to IMU frame as unit quaternion.

Definition at line 44 of file ahrs.h.

Referenced by __attribute__(), ahrs_align(), ahrs_init(), and ahrs_propagate().

struct Int32RMat Ahrs::ltp_to_imu_rmat

Rotation from LocalTangentPlane to IMU frame as Rotation Matrix.

Definition at line 46 of file ahrs.h.

Referenced by __attribute__(), ahrs_init(), ahrs_update_accel(), ahrs_update_heading(), ahrs_update_mag_2d(), and ahrs_update_mag_full().

uint8_t Ahrs::status

status of the AHRS, AHRS_UNINIT or AHRS_RUNNING

Definition at line 54 of file ahrs.h.

Referenced by ahrs_align(), ahrs_init(), ahrs_is_aligned(), on_accel_event(), on_gyro_accel_event(), on_gyro_event(), and on_mag_event().


The documentation for this struct was generated from the following file: