Paparazzi UAS  v5.0.5_stable-7-g4b8bbb7
Paparazzi is a free software Unmanned Aircraft System.
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ahrs.h
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1 /*
2  * Copyright (C) 2008-2010 The Paparazzi Team
3  *
4  * This file is part of paparazzi.
5  *
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21 
27 #ifndef AHRS_H
28 #define AHRS_H
29 
30 #include "std.h"
31 #include "math/pprz_algebra_int.h"
33 #include "state.h"
34 
35 #define AHRS_UNINIT 0
36 #define AHRS_RUNNING 1
37 
38 /* underlying includes (needed for parameters) */
39 #ifdef AHRS_TYPE_H
40 #include AHRS_TYPE_H
41 #endif
42 
44 struct Ahrs {
46 };
47 
49 extern struct Ahrs ahrs;
50 
54 extern void ahrs_init(void);
55 
60 extern void ahrs_align(void);
61 
66 extern void ahrs_propagate(void);
67 
72 extern void ahrs_update_accel(void);
73 
78 extern void ahrs_update_mag(void);
79 
84 extern void ahrs_update_gps(void);
85 
86 #endif /* AHRS_H */
void ahrs_update_accel(void)
Update AHRS state with accerleration measurements.
struct Ahrs ahrs
global AHRS state
Definition: ahrs.c:30
void ahrs_update_gps(void)
Update AHRS state with GPS measurements.
Paparazzi floating point algebra.
void ahrs_propagate(void)
Propagation.
void ahrs_init(void)
AHRS initialization.
uint8_t status
status of the AHRS, AHRS_UNINIT or AHRS_RUNNING
Definition: ahrs.h:45
Attitude and Heading Reference System state.
Definition: ahrs.h:44
unsigned char uint8_t
Definition: types.h:14
API to get/set the generic vehicle states.
void ahrs_align(void)
Aligns the AHRS.
void ahrs_update_mag(void)
Update AHRS state with magnetometer measurements.
Paparazzi fixed point algebra.