Paparazzi UAS  v4.2.2_stable-4-gcc32f65
Paparazzi is a free software Unmanned Aircraft System.
 All Data Structures Files Functions Variables Typedefs Enumerations Enumerator Macros Pages
Imu Struct Reference

abstract IMU interface providing fixed point interface More...

#include <imu.h>

+ Collaboration diagram for Imu:

Data Fields

struct Int32Rates gyro
 gyroscope measurements More...
 
struct Int32Vect3 accel
 accelerometer measurements More...
 
struct Int32Vect3 mag
 magnetometer measurements More...
 
struct Int32Rates gyro_prev
 previous gyroscope measurements More...
 
struct Int32Vect3 accel_prev
 previous accelerometer measurements More...
 
struct Int32Rates gyro_neutral
 gyroscope bias More...
 
struct Int32Vect3 accel_neutral
 accelerometer bias More...
 
struct Int32Vect3 mag_neutral
 magnetometer neutral readings (bias) More...
 
struct Int32Rates gyro_unscaled
 unscaled gyroscope measurements More...
 
struct Int32Vect3 accel_unscaled
 unscaled accelerometer measurements More...
 
struct Int32Vect3 mag_unscaled
 unscaled magnetometer measurements More...
 
struct Int32Quat body_to_imu_quat
 rotation from body to imu frame as a unit quaternion More...
 
struct Int32RMat body_to_imu_rmat
 rotation from body to imu frame as a rotation matrix More...
 

Detailed Description

abstract IMU interface providing fixed point interface

Definition at line 39 of file imu.h.

Field Documentation

struct Int32Vect3 Imu::accel_neutral

accelerometer bias

Definition at line 46 of file imu.h.

Referenced by imu_init().

struct Int32Vect3 Imu::accel_prev

previous accelerometer measurements

Definition at line 44 of file imu.h.

struct Int32Quat Imu::body_to_imu_quat

rotation from body to imu frame as a unit quaternion

Definition at line 51 of file imu.h.

Referenced by ahrs_init(), and imu_init().

struct Int32RMat Imu::body_to_imu_rmat

rotation from body to imu frame as a rotation matrix

Definition at line 52 of file imu.h.

Referenced by ahrs_init(), ahrs_update_accel(), b2_hff_store_accel_body(), imu_init(), ins_propagate(), nav_catapult_highrate_module(), and v_ctl_climb_loop().

struct Int32Rates Imu::gyro

gyroscope measurements

Definition at line 40 of file imu.h.

Referenced by ahrs_aligner_run(), ahrs_propagate(), on_overo_link_msg_received(), and vi_overo_link_on_msg_received().

struct Int32Rates Imu::gyro_neutral

gyroscope bias

Definition at line 45 of file imu.h.

Referenced by imu_init().

struct Int32Rates Imu::gyro_prev

previous gyroscope measurements

Definition at line 43 of file imu.h.

Referenced by ahrs_propagate().

struct Int32Vect3 Imu::mag_neutral

magnetometer neutral readings (bias)

Definition at line 47 of file imu.h.

Referenced by imu_init().

struct Int32Vect3 Imu::mag_unscaled

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