Paparazzi UAS  v5.0.5_stable-7-g4b8bbb7
Paparazzi is a free software Unmanned Aircraft System.
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ahrs_extern_quat.h
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1 /*
2  * Copyright (C) 2013 Michal Podhradsky
3  * Utah State University, http://aggieair.usu.edu/
4  *
5  * This file is part of paparazzi.
6  *
7  * paparazzi is free software; you can redistribute it and/or modify
8  * it under the terms of the GNU General Public License as published by
9  * the Free Software Foundation; either version 2, or (at your option)
10  * any later version.
11  *
12  * paparazzi is distributed in the hope that it will be useful,
13  * but WITHOUT ANY WARRANTY; without even the implied warranty of
14  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
15  * GNU General Public License for more details.
16  *
17  * You should have received a copy of the GNU General Public License
18  * along with paparazzi; see the file COPYING. If not, write to
19  * the Free Software Foundation, 59 Temple Place - Suite 330,
20  * Boston, MA 02111-1307, USA.
21  */
32 #ifndef AHRS_EXTERN_QUAT_H
33 #define AHRS_EXTERN_QUAT_H
34 
35 #include "state.h"
36 #include "subsystems/ahrs.h"
37 #include "subsystems/imu.h"
38 
43  float mag_offset;
44 };
45 
46 extern struct AhrsIntExternQuat ahrs_impl;
47 
48 #endif /* AHRS_EXTERN_QUAT_H */
Attitude and Heading Reference System interface.
Rotation quaternion.
struct Int32Eulers ltp_to_imu_euler
Rotation from LocalTangentPlane to IMU frame as Euler angles.
Inertial Measurement Unit interface.
angular rates
struct AhrsIntExternQuat ahrs_impl
Definition: ahrs_ardrone2.c:40
API to get/set the generic vehicle states.
struct Int32Quat ltp_to_imu_quat
Rotation from LocalTangentPlane to IMU frame as quaternions.
struct Int32Rates imu_rate
Rotational velocity in IMU frame.
euler angles