Paparazzi UAS  v5.0.5_stable-7-g4b8bbb7
Paparazzi is a free software Unmanned Aircraft System.
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ahrs_chimu_uart.c File Reference
#include <stdbool.h>
#include "state.h"
#include "subsystems/gps.h"
#include "subsystems/ahrs.h"
#include "generated/airframe.h"
#include "ins_module.h"
#include "imu_chimu.h"
#include "led.h"
+ Include dependency graph for ahrs_chimu_uart.c:

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 parse_ins_msg (void)
 
void ahrs_update_gps (void)
 Update AHRS state with GPS measurements. More...
 

Variables

CHIMU_PARSER_DATA CHIMU_DATA
 
INS_FORMAT ins_roll_neutral
 
INS_FORMAT ins_pitch_neutral
 

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 67 of file ahrs_chimu_uart.c.

References ahrs, AHRS_RUNNING, and Ahrs::status.

void ahrs_init ( void  )

AHRS initialization.

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

Definition at line 36 of file ahrs_chimu_uart.c.

References ahrs, AHRS_UNINIT, CHIMU_BROADCAST, CHIMU_Checksum(), CHIMU_Init(), CHIMU_STX, ins_pitch_neutral, INS_PITCH_NEUTRAL_DEFAULT, ins_roll_neutral, INS_ROLL_NEUTRAL_DEFAULT, InsSend, InsUartSend1, MSG00_PING, MSG09_ESTIMATOR, MSG10_UARTSETTINGS, new_ins_attitude, and Ahrs::status.

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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 101 of file ahrs_chimu_uart.c.

Variable Documentation

CHIMU_PARSER_DATA CHIMU_DATA

Definition at line 31 of file ahrs_chimu_uart.c.

INS_FORMAT ins_pitch_neutral

Definition at line 34 of file ahrs_chimu_uart.c.

Referenced by ahrs_init().

INS_FORMAT ins_roll_neutral
Todo:
harmonize infrared neutrals with ins_neutrals or get rid of ins neutrals this ins only needed for sim right now

Definition at line 33 of file ahrs_chimu_uart.c.

Referenced by ahrs_init().