Paparazzi UAS  v4.2.2_stable-4-gcc32f65
Paparazzi is a free software Unmanned Aircraft System.
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ahrs_sim.c File Reference
#include "subsystems/ahrs.h"
#include "subsystems/ahrs/ahrs_sim.h"
#include "math/pprz_algebra_float.h"
#include "generated/airframe.h"
#include <inttypes.h>
#include <caml/mlvalues.h>
+ Include dependency graph for ahrs_sim.c:

Go to the source code of this file.

Functions

void compute_body_orientation_and_rates (void)
 
void update_ahrs_from_sim (void)
 
void ahrs_init (void)
 AHRS initialization. More...
 
void ahrs_align (void)
 Aligns the AHRS. More...
 
void ahrs_propagate (void)
 Propagation. More...
 
void ahrs_update_accel (void)
 Update AHRS state with accerleration measurements. More...
 
void ahrs_update_mag (void)
 Update AHRS state with magnetometer measurements. More...
 
void ahrs_update_gps (void)
 

Variables

float sim_phi
 in radians More...
 
float sim_theta
 in radians More...
 
float sim_psi
 in radians More...
 
float sim_p
 in radians/s More...
 
float sim_q
 in radians/s More...
 
float sim_r
 in radians/s More...
 
bool_t ahrs_sim_available
 

Function Documentation

void ahrs_align ( void  )

Aligns the AHRS.

Called after ahrs_aligner has run to set initial attitude and biases. Must set the ahrs status to AHRS_RUNNING. Needs to be implemented by each AHRS algorithm.

Definition at line 79 of file ahrs_sim.c.

References ahrs, ahrs_aligner, ahrs_float, ahrs_float_get_quat_from_accel(), ahrs_float_get_quat_from_accel_mag(), ahrs_impl, AHRS_IMU_INT_OF_FLOAT, AHRS_INT_OF_FLOAT, AHRS_RUNNING, compute_body_orientation_and_rates(), compute_imu_rmat_and_euler_from_quat(), FALSE, AhrsFloatCmplRmat::gyro_bias, AhrsFloatCmplRmat::heading_aligned, AhrsAligner::lp_accel, AhrsAligner::lp_gyro, AhrsAligner::lp_mag, AhrsFloat::ltp_to_imu_quat, RATES_COPY, RATES_FLOAT_OF_BFP, Ahrs::status, TRUE, and update_ahrs_from_sim().

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void ahrs_update_mag ( void  )

Update AHRS state with magnetometer measurements.

Reads the global imu data struct. Needs to be implemented by each AHRS algorithm.

Definition at line 100 of file ahrs_sim.c.

References ahrs_update_mag_2d(), and ahrs_update_mag_full().

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void update_ahrs_from_sim ( void  )

Variable Documentation

bool_t ahrs_sim_available

Definition at line 17 of file jsbsim_ahrs.c.

Referenced by ahrs_init().

float sim_p

in radians/s

Definition at line 14 of file jsbsim_ahrs.c.

Referenced by provide_attitude_and_rates(), provide_rates(), and update_ahrs_from_sim().

float sim_phi

in radians

Definition at line 11 of file jsbsim_ahrs.c.

Referenced by provide_attitude(), provide_attitude_and_rates(), and update_ahrs_from_sim().

float sim_psi

in radians

Definition at line 13 of file jsbsim_ahrs.c.

Referenced by provide_attitude(), provide_attitude_and_rates(), and update_ahrs_from_sim().

float sim_q

in radians/s

Definition at line 15 of file jsbsim_ahrs.c.

Referenced by provide_attitude_and_rates(), provide_rates(), and update_ahrs_from_sim().

float sim_r

in radians/s

Definition at line 16 of file jsbsim_ahrs.c.

Referenced by provide_attitude_and_rates(), provide_rates(), and update_ahrs_from_sim().

float sim_theta

in radians

Definition at line 12 of file jsbsim_ahrs.c.

Referenced by provide_attitude(), provide_attitude_and_rates(), and update_ahrs_from_sim().