Paparazzi UAS  v4.2.2_stable-4-gcc32f65
Paparazzi is a free software Unmanned Aircraft System.
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ahrs_aligner.c File Reference
#include "ahrs_aligner.h"
#include <stdlib.h>
#include "subsystems/imu.h"
#include "led.h"
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Macros

#define SAMPLES_NB   PERIODIC_FREQUENCY
 
#define LOW_NOISE_THRESHOLD   90000
 
#define LOW_NOISE_TIME   5
 

Functions

void ahrs_aligner_init (void)
 
void ahrs_aligner_run (void)
 

Variables

struct AhrsAligner ahrs_aligner
 
static struct Int32Rates gyro_sum
 
static struct Int32Vect3 accel_sum
 
static struct Int32Vect3 mag_sum
 
static int32_t ref_sensor_samples [SAMPLES_NB]
 
static uint32_t samples_idx
 

Macro Definition Documentation

#define LOW_NOISE_THRESHOLD   90000

Definition at line 52 of file ahrs_aligner.c.

Referenced by ahrs_aligner_run().

#define LOW_NOISE_TIME   5

Definition at line 55 of file ahrs_aligner.c.

Referenced by ahrs_aligner_run().

#define SAMPLES_NB   PERIODIC_FREQUENCY

Definition at line 32 of file ahrs_aligner.c.

Referenced by ahrs_aligner_run().

Function Documentation

void ahrs_aligner_init ( void  )

Definition at line 40 of file ahrs_aligner.c.

References accel_sum, ahrs_aligner, AHRS_ALIGNER_RUNNING, gyro_sum, INT_RATES_ZERO, INT_VECT3_ZERO, AhrsAligner::low_noise_cnt, mag_sum, AhrsAligner::noise, samples_idx, and AhrsAligner::status.

Referenced by init_ap(), and main_init().

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Variable Documentation

struct Int32Vect3 accel_sum
static

Definition at line 35 of file ahrs_aligner.c.

Referenced by ahrs_aligner_init(), and ahrs_aligner_run().

struct AhrsAligner ahrs_aligner
struct Int32Rates gyro_sum
static

Definition at line 34 of file ahrs_aligner.c.

Referenced by ahrs_aligner_init(), and ahrs_aligner_run().

struct Int32Vect3 mag_sum
static

Definition at line 36 of file ahrs_aligner.c.

Referenced by ahrs_aligner_init(), and ahrs_aligner_run().

int32_t ref_sensor_samples[SAMPLES_NB]
static

Definition at line 37 of file ahrs_aligner.c.

Referenced by ahrs_aligner_run().

uint32_t samples_idx
static

Definition at line 38 of file ahrs_aligner.c.

Referenced by ahrs_aligner_init(), and ahrs_aligner_run().