Paparazzi UAS  v5.0.5_stable-7-g4b8bbb7
Paparazzi is a free software Unmanned Aircraft System.
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ahrs_int_cmpl_quat.h
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1 /*
2  * Copyright (C) 2011 The Paparazzi Team
3  *
4  * This file is part of paparazzi.
5  *
6  * paparazzi is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License as published by
8  * the Free Software Foundation; either version 2, or (at your option)
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10  *
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14  * GNU General Public License for more details.
15  *
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18  * the Free Software Foundation, 59 Temple Place - Suite 330,
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20  */
21 
31 #ifndef AHRS_INT_CMPL_H
32 #define AHRS_INT_CMPL_H
33 
34 #include "subsystems/ahrs.h"
35 #include "std.h"
36 #include "math/pprz_algebra_int.h"
37 
38 struct AhrsIntCmpl {
45  struct Int32Vect3 mag_h;
51 };
52 
53 extern struct AhrsIntCmpl ahrs_impl;
54 
55 
61 
68 
69 #ifdef AHRS_UPDATE_FW_ESTIMATOR
70 extern float ins_roll_neutral;
71 extern float ins_pitch_neutral;
72 #endif
73 
74 
75 #endif /* AHRS_INT_CMPL_H */
void ahrs_update_heading(int32_t heading)
Update yaw based on a heading measurement.
bool_t use_gravity_heuristic
Attitude and Heading Reference System interface.
Rotation quaternion.
struct Int32Rates gyro_bias
struct Int32Rates imu_rate
bool_t heading_aligned
void ahrs_realign_heading(int32_t heading)
Hard reset yaw to a heading.
struct Int32Rates rate_correction
float heading
Definition: ahrs_infrared.c:40
bool_t ltp_vel_norm_valid
struct Int64Rates high_rez_bias
struct Int32Quat ltp_to_imu_quat
bool_t correct_gravity
angular rates
float ins_pitch_neutral
Definition: ins_arduimu.c:15
signed long int32_t
Definition: types.h:19
float ins_roll_neutral
Definition: ins_arduimu.c:14
int32_t ltp_vel_norm
struct Int64Quat high_rez_quat
struct AhrsIntCmpl ahrs_impl
Definition: ahrs_ardrone2.c:40
struct Int32Vect3 mag_h
Paparazzi fixed point algebra.