Paparazzi UAS  v5.0.5_stable-7-g4b8bbb7
Paparazzi is a free software Unmanned Aircraft System.
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ahrs_ardrone2.h
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1 /*
2  * Copyright (C) 2012-2013 Freek van Tienen
3  *
4  * This file is part of Paparazzi.
5  *
6  * Paparazzi is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License as published by
8  * the Free Software Foundation; either version 2, or (at your option)
9  * any later version.
10  *
11  * Paparazzi is distributed in the hope that it will be useful,
12  * but WITHOUT ANY WARRANTY; without even the implied warranty of
13  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14  * GNU General Public License for more details.
15  *
16  * You should have received a copy of the GNU General Public License
17  * along with Paparazzi; see the file COPYING. If not, write to
18  * the Free Software Foundation, 59 Temple Place - Suite 330,
19  * Boston, MA 02111-1307, USA.
20  */
21 
30 #ifndef AHRS_ARDRONE2_H
31 #define AHRS_ARDRONE2_H
32 
33 #include "subsystems/ahrs.h"
35 #include "std.h"
36 #include "math/pprz_algebra_int.h"
37 
38 struct AhrsARDrone {
39  uint32_t state; // ARDRONE_STATES
40  uint32_t control_state; // CTRL_STATES
41  struct FloatEulers eulers; // in radians
42  struct NedCoor_f speed; // in m/s
43  struct NedCoor_f accel; // in m/s^2
44  int32_t altitude; // in cm above ground
45  uint32_t battery; // in percentage
47 };
48 extern struct AhrsARDrone ahrs_impl;
49 
50 #endif /* AHRS_ARDRONE2_H */
Interface to align the AHRS via low-passed measurements at startup.
struct AhrsARDrone ahrs_impl
Definition: ahrs_ardrone2.c:40
Attitude and Heading Reference System interface.
Rotation quaternion.
struct NedCoor_f accel
Definition: ahrs_ardrone2.h:43
int32_t altitude
Definition: ahrs_ardrone2.h:44
euler angles
struct Int32Quat ltp_to_imu_quat
Definition: ahrs_ardrone2.h:46
struct FloatEulers eulers
Definition: ahrs_ardrone2.h:41
struct NedCoor_f speed
Definition: ahrs_ardrone2.h:42
vector in North East Down coordinates Units: meters
unsigned long uint32_t
Definition: types.h:18
signed long int32_t
Definition: types.h:19
uint32_t state
Definition: ahrs_ardrone2.h:39
uint32_t control_state
Definition: ahrs_ardrone2.h:40
uint32_t battery
Definition: ahrs_ardrone2.h:45
Paparazzi fixed point algebra.