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
Imu Struct Reference

abstract IMU interface providing fixed point interface More...

#include <imu.h>

+ Collaboration diagram for Imu:

Data Fields

struct Int32Rates gyro
 gyroscope measurements More...
 
struct Int32Vect3 accel
 accelerometer measurements More...
 
struct Int32Vect3 mag
 magnetometer measurements More...
 
struct Int32Rates gyro_prev
 previous gyroscope measurements More...
 
struct Int32Vect3 accel_prev
 previous accelerometer measurements More...
 
struct Int32Rates gyro_neutral
 gyroscope bias More...
 
struct Int32Vect3 accel_neutral
 accelerometer bias More...
 
struct Int32Vect3 mag_neutral
 magnetometer neutral readings (bias) More...
 
struct Int32Rates gyro_unscaled
 unscaled gyroscope measurements More...
 
struct Int32Vect3 accel_unscaled
 unscaled accelerometer measurements More...
 
struct Int32Vect3 mag_unscaled
 unscaled magnetometer measurements More...
 
struct Int32Quat body_to_imu_quat
 rotation from body to imu frame as a unit quaternion More...
 
struct Int32RMat body_to_imu_rmat
 rotation from body to imu frame as a rotation matrix More...
 

Detailed Description

abstract IMU interface providing fixed point interface

Definition at line 39 of file imu.h.

Field Documentation

struct Int32Vect3 Imu::accel_neutral

accelerometer bias

Definition at line 46 of file imu.h.

Referenced by imu_init().

struct Int32Vect3 Imu::accel_prev

previous accelerometer measurements

Definition at line 44 of file imu.h.

struct Int32Quat Imu::body_to_imu_quat

rotation from body to imu frame as a unit quaternion

Definition at line 51 of file imu.h.

Referenced by ahrs_init(), ahrs_propagate(), ahrs_realign_heading(), imu_init(), and set_body_state_from_quat().

struct Int32RMat Imu::body_to_imu_rmat
struct Int32Rates Imu::gyro
struct Int32Rates Imu::gyro_neutral

gyroscope bias

Definition at line 45 of file imu.h.

Referenced by imu_init().

struct Int32Rates Imu::gyro_prev

previous gyroscope measurements

Definition at line 43 of file imu.h.

Referenced by ahrs_propagate(), and propagate_ref().

struct Int32Vect3 Imu::mag_neutral

magnetometer neutral readings (bias)

Definition at line 47 of file imu.h.

Referenced by imu_init().


The documentation for this struct was generated from the following file: