Paparazzi UAS  v5.0.5_stable-7-g4b8bbb7
Paparazzi is a free software Unmanned Aircraft System.
 All Data Structures Files Functions Variables Typedefs Enumerations Enumerator Macros Modules Pages
ins.h
Go to the documentation of this file.
1 /*
2  * Copyright (C) 2008-2012 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)
9  * any later version.
10  *
11  * paparazzi is distributed in the hope that it will be useful,
12  * but WITHOUT ANY WARRANTY; without even the implied warranty of
13  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14  * GNU General Public License for more details.
15  *
16  * You should have received a copy of the GNU General Public License
17  * along with paparazzi; see the file COPYING. If not, write to
18  * the Free Software Foundation, 59 Temple Place - Suite 330,
19  * Boston, MA 02111-1307, USA.
20  */
21 
27 #ifndef INS_H
28 #define INS_H
29 
30 #include "std.h"
31 #include "math/pprz_geodetic_int.h"
33 #include "state.h"
34 
35 #define INS_UNINIT 0
36 #define INS_RUNNING 1
37 
38 /* underlying includes (needed for parameters) */
39 #ifdef INS_TYPE_H
40 #include INS_TYPE_H
41 #endif
42 
44 struct Ins {
46  bool_t hf_realign;
47  bool_t vf_realign;
48 };
49 
51 extern struct Ins ins;
52 
56 extern void ins_init( void );
57 
61 extern void ins_periodic( void );
62 
68 extern void ins_realign_h(struct FloatVect2 pos, struct FloatVect2 speed);
69 
74 extern void ins_realign_v(float z);
75 
80 extern void ins_propagate( void );
81 
86 extern void ins_update_baro( void );
87 
92 extern void ins_update_gps( void );
93 
98 extern void ins_update_sonar( void );
99 
100 
101 #endif /* INS_H */
Inertial Navigation System state.
Definition: ins.h:44
void ins_update_gps(void)
Update INS state with GPS measurements.
bool_t hf_realign
realign horizontally if true
Definition: ins.h:46
uint8_t status
status of the INS
Definition: ins.h:45
Paparazzi floating point algebra.
void ins_update_baro(void)
Update INS state with barometer measurements.
Definition: ins_alt_float.c:87
Paparazzi fixed point math for geodetic calculations.
void ins_propagate(void)
Propagation.
Definition: ins_alt_float.c:84
void ins_realign_h(struct FloatVect2 pos, struct FloatVect2 speed)
INS horizontal realign.
Definition: ins_alt_float.c:78
unsigned char uint8_t
Definition: types.h:14
struct Ins ins
global INS state
Definition: ins.c:30
API to get/set the generic vehicle states.
void ins_init(void)
INS initialization.
Definition: ins_xsens700.c:178
void ins_periodic(void)
INS periodic call.
Definition: ins_alt_float.c:75
bool_t vf_realign
realign vertically if true
Definition: ins.h:47
void ins_update_sonar(void)
Update INS state with sonar measurements.
void ins_realign_v(float z)
INS vertical realign.
Definition: ins_alt_float.c:81