Paparazzi UAS  v5.0.5_stable-7-g4b8bbb7
Paparazzi is a free software Unmanned Aircraft System.
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ahrs_float_cmpl.h
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4  * This file is part of paparazzi.
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21 
30 #ifndef AHRS_FLOAT_CMPL
31 #define AHRS_FLOAT_CMPL
32 
33 #include "std.h"
34 
35 struct AhrsFloatCmpl {
41  /* for gravity correction during coordinated turns */
42  float ltp_vel_norm;
45 
47 
48  /*
49  Holds float version of IMU alignement
50  in order to be able to run against the fixed point
51  version of the IMU
52  */
55 };
56 
57 extern struct AhrsFloatCmpl ahrs_impl;
58 
59 
64 void ahrs_update_heading(float heading);
65 
71 void ahrs_realign_heading(float heading);
72 
73 #ifdef AHRS_UPDATE_FW_ESTIMATOR
74 extern float ins_roll_neutral;
75 extern float ins_pitch_neutral;
76 #endif
77 
78 
79 #endif /* AHRS_FLOAT_CMPL_RMAT */
rotation matrix
struct FloatRates rate_correction
void ahrs_realign_heading(float heading)
Hard reset yaw to a heading.
angular rates
bool_t heading_aligned
struct FloatRates gyro_bias
struct FloatRMat ltp_to_imu_rmat
struct FloatRMat body_to_imu_rmat
struct FloatQuat body_to_imu_quat
struct FloatRates imu_rate
Roation quaternion.
bool_t correct_gravity
void ahrs_update_heading(float heading)
Update yaw based on a heading measurement.
float heading
Definition: ahrs_infrared.c:40
struct FloatQuat ltp_to_imu_quat
struct AhrsFloatCmpl ahrs_impl
Definition: ahrs_ardrone2.c:40
float ins_pitch_neutral
Definition: ins_arduimu.c:15
bool_t ltp_vel_norm_valid
float ins_roll_neutral
Definition: ins_arduimu.c:14