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ahrs_ardrone2.c File Reference

AHRS implementation for ardrone2-sdk based on AT-commands. More...

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Go to the source code of this file.

Functions

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)
 Update AHRS state with GPS measurements. More...
 
void ahrs_aligner_init (void)
 
void ahrs_aligner_run (void)
 

Variables

struct AhrsARDrone ahrs_impl
 
struct AhrsAligner ahrs_aligner
 
unsigned char buffer [4096]
 

Detailed Description

AHRS implementation for ardrone2-sdk based on AT-commands.

Uses AT-Commands to communicate with ardrone api to retrieve AHRS data and also sets battery level.

Definition in file ahrs_ardrone2.c.

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 54 of file ahrs_ardrone2.c.

void ahrs_aligner_init ( void  )

Definition at line 145 of file ahrs_ardrone2.c.

void ahrs_aligner_run ( void  )

Definition at line 149 of file ahrs_ardrone2.c.

void ahrs_init ( void  )

AHRS initialization.

Called at startup. Needs to be implemented by each AHRS algorithm.

Definition at line 44 of file ahrs_ardrone2.c.

References ahrs, AHRS_RUNNING, at_com_send_config(), at_com_send_ftrim(), init_at_com(), and Ahrs::status.

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void ahrs_update_accel ( void  )

Update AHRS state with accerleration measurements.

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

Definition at line 133 of file ahrs_ardrone2.c.

void ahrs_update_gps ( void  )

Update AHRS state with GPS measurements.

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

Definition at line 141 of file ahrs_ardrone2.c.

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 137 of file ahrs_ardrone2.c.

Referenced by on_mag_event().

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Variable Documentation

struct AhrsAligner ahrs_aligner

Definition at line 41 of file ahrs_ardrone2.c.

struct AhrsARDrone ahrs_impl
unsigned char buffer[4096]

Definition at line 42 of file ahrs_ardrone2.c.

Referenced by ahrs_propagate().