Paparazzi UAS  v5.2.2_stable-0-gd6b9f29
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ahrs_aligner.c File Reference

Low-pass IMU measurements at startup to align the AHRS. More...

#include "ahrs_aligner.h"
#include <stdlib.h>
#include "subsystems/imu.h"
#include "led.h"
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Go to the source code of this file.

Macros

#define SAMPLES_NB   PERIODIC_FREQUENCY
 
#define LOW_NOISE_THRESHOLD   90000
 
#define LOW_NOISE_TIME   5
 

Functions

void ahrs_aligner_init (void)
 
void ahrs_aligner_run (void)
 

Variables

struct AhrsAligner ahrs_aligner
 
static struct Int32Rates gyro_sum
 
static struct Int32Vect3 accel_sum
 
static struct Int32Vect3 mag_sum
 
static int32_t ref_sensor_samples [SAMPLES_NB]
 
static uint32_t samples_idx
 

Detailed Description

Low-pass IMU measurements at startup to align the AHRS.

Definition in file ahrs_aligner.c.

Macro Definition Documentation

#define LOW_NOISE_THRESHOLD   90000

Definition at line 78 of file ahrs_aligner.c.

Referenced by ahrs_aligner_run().

#define LOW_NOISE_TIME   5

Definition at line 81 of file ahrs_aligner.c.

Referenced by ahrs_aligner_run().

#define SAMPLES_NB   PERIODIC_FREQUENCY

Definition at line 37 of file ahrs_aligner.c.

Referenced by ahrs_aligner_run().

Function Documentation

void ahrs_aligner_init ( void  )

Definition at line 62 of file ahrs_aligner.c.

Referenced by init_ap(), and main_init().

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void ahrs_aligner_run ( void  )

Definition at line 84 of file ahrs_aligner.c.

Referenced by on_gyro_event().

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Variable Documentation

struct Int32Vect3 accel_sum
static

Definition at line 40 of file ahrs_aligner.c.

Referenced by ahrs_aligner_init(), and ahrs_aligner_run().

struct AhrsAligner ahrs_aligner

Definition at line 35 of file ahrs_aligner.c.

Referenced by ahrs_align(), ahrs_aligner_init(), ahrs_aligner_run(), and on_gyro_event().

struct Int32Rates gyro_sum
static

Definition at line 39 of file ahrs_aligner.c.

Referenced by ahrs_aligner_init(), and ahrs_aligner_run().

struct Int32Vect3 mag_sum
static

Definition at line 41 of file ahrs_aligner.c.

Referenced by ahrs_aligner_init(), and ahrs_aligner_run().

int32_t ref_sensor_samples[SAMPLES_NB]
static

Definition at line 42 of file ahrs_aligner.c.

Referenced by ahrs_aligner_run().

uint32_t samples_idx
static

Definition at line 43 of file ahrs_aligner.c.

Referenced by ahrs_aligner_init(), and ahrs_aligner_run().