Paparazzi UAS  v5.0.5_stable-7-g4b8bbb7
Paparazzi is a free software Unmanned Aircraft System.
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ahrs_float_mlkf.h
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1 /*
2  * Copyright (C) 2011-2012 Antoine Drouin <poinix@gmail.com>
3  * Copyright (C) 2013 Felix Ruess <felix.ruess@gmail.com>
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  */
22 
31 #ifndef AHRS_FLOAT_MLKF_H
32 #define AHRS_FLOAT_MLKF_H
33 
34 #include "subsystems/ahrs.h"
35 #include "std.h"
37 
38 struct AhrsMlkf {
45 
51 
53 
54 
56  float P[6][6];
57  float lp_accel;
58  // Holds float version of IMU alignement
61 };
62 
63 extern struct AhrsMlkf ahrs_impl;
64 
65 #endif /* AHRS_FLOAT_MLKF_H */
struct FloatQuat ltp_to_body_quat
Rotation from LocalTangentPlane to body frame as unit quaternion.
struct AhrsMlkf ahrs_impl
Definition: ahrs_ardrone2.c:40
rotation matrix
struct FloatRates imu_rate
Rotational velocity in IMU frame.
Attitude and Heading Reference System interface.
struct FloatRates body_rate_d
angular rates
struct FloatRMat ltp_to_body_rmat
Rotation from LocalTangentPlane to body frame as Rotation Matrix.
euler angles
struct FloatRates gyro_bias
Roation quaternion.
struct FloatRMat body_to_imu_rmat
struct FloatQuat body_to_imu_quat
Paparazzi floating point algebra.
struct FloatRMat ltp_to_imu_rmat
Rotation from LocalTangentPlane to IMU frame as Rotation Matrix.
struct FloatQuat ltp_to_imu_quat
Rotation from LocalTangentPlane to IMU frame as unit quaternion.
struct FloatRates imu_rate_previous
struct FloatRates body_rate
Rotational velocity in body frame.
float P[6][6]
struct FloatQuat gibbs_cor
struct FloatRates imu_rate_d
struct FloatEulers ltp_to_imu_euler
Rotation from LocalTangentPlane to IMU frame as Euler angles.
float lp_accel
struct FloatEulers ltp_to_body_euler
Rotation from LocalTangentPlane to body frame as Euler angles.