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ahrs_float_dcm.h File Reference

Attitude estimation for fixedwings based on the DCM. More...

#include <inttypes.h>
#include "math/pprz_algebra_float.h"
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Data Structures

struct  AhrsFloatDCM
 

Macros

#define Kp_ROLLPITCH   0.015
 
#define Ki_ROLLPITCH   0.000010
 
#define Kp_YAW   0.9
 
#define Ki_YAW   0.00005
 
#define GRAVITY   9.81
 
#define OUTPUTMODE   1
 
#define PERFORMANCE_REPORTING   1
 

Variables

struct AhrsFloatDCM ahrs_impl
 
float ins_roll_neutral
 
float ins_pitch_neutral
 
int renorm_sqrt_count
 
int renorm_blowup_count
 
float imu_health
 

Detailed Description

Attitude estimation for fixedwings based on the DCM.

Theory: http://code.google.com/p/gentlenav/downloads/list file DCMDraft2.pdf

Definition in file ahrs_float_dcm.h.

Macro Definition Documentation

#define GRAVITY   9.81

Definition at line 60 of file ahrs_float_dcm.h.

Referenced by compute_ahrs_representations(), and Drift_correction().

#define Ki_ROLLPITCH   0.000010

Definition at line 56 of file ahrs_float_dcm.h.

Referenced by Drift_correction().

#define Ki_YAW   0.00005

Definition at line 58 of file ahrs_float_dcm.h.

Referenced by Drift_correction().

#define Kp_ROLLPITCH   0.015

Definition at line 55 of file ahrs_float_dcm.h.

Referenced by Drift_correction().

#define Kp_YAW   0.9

Definition at line 57 of file ahrs_float_dcm.h.

Referenced by Drift_correction().

#define OUTPUTMODE   1

Definition at line 64 of file ahrs_float_dcm.h.

#define PERFORMANCE_REPORTING   1

Definition at line 71 of file ahrs_float_dcm.h.

Variable Documentation

struct AhrsFloatDCM ahrs_impl

Definition at line 40 of file ahrs_ardrone2.c.

float imu_health

Referenced by Drift_correction().

float ins_pitch_neutral

Definition at line 15 of file ins_arduimu.c.

float ins_roll_neutral

Definition at line 14 of file ins_arduimu.c.

int renorm_blowup_count

Referenced by Normalize().

int renorm_sqrt_count

Referenced by Normalize().