Paparazzi UAS  v5.12_stable-4-g9b43e9b
Paparazzi is a free software Unmanned Aircraft System.
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ins_int.h File Reference

INS for rotorcrafts combining vertical and horizontal filters. More...

#include "subsystems/ins.h"
#include "subsystems/gps.h"
#include "std.h"
#include "math/pprz_geodetic_int.h"
#include "math/pprz_algebra_float.h"
+ Include dependency graph for ins_int.h:
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Go to the source code of this file.

Data Structures

struct  InsInt
 Ins implementation state (fixed point) More...


void ins_int_init (void)
void ins_int_propagate (struct Int32Vect3 *accel, float dt)
void ins_int_update_gps (struct GpsState *gps_s)


struct InsInt ins_int
 global INS state More...

Detailed Description

INS for rotorcrafts combining vertical and horizontal filters.

Definition in file ins_int.h.

Data Structure Documentation

struct InsInt

Ins implementation state (fixed point)

Definition at line 39 of file ins_int.h.

+ Collaboration diagram for InsInt:
Data Fields
bool baro_initialized
float baro_z z-position calculated from baro in meters (z-down)
bool hf_realign request to realign horizontal filter.

Sets to current position (local origin unchanged).

struct NedCoor_i ltp_accel
struct LtpDef_i ltp_def
bool ltp_initialized
struct NedCoor_i ltp_pos
struct NedCoor_i ltp_speed
uint32_t propagation_cnt number of propagation steps since the last measurement update
float qfe
bool vf_reset request to reset vertical filter.

Sets the z-position to zero and resets the the z-reference to current altitude.

Function Documentation

Variable Documentation