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ahrs_ardrone2.c File Reference

AHRS implementation for ardrone2-sdk based on AT-commands. More...

+ Include dependency graph for ahrs_ardrone2.c:

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Functions

void ahrs_init (void)
 AHRS initialization. More...
 
void ahrs_align (void)
 Aligns the AHRS. More...
 
void ahrs_propagate (void)
 Propagation. More...
 
void ahrs_aligner_init (void)
 
void ahrs_aligner_run (void)
 

Variables

struct AhrsARDrone ahrs_impl
 
struct AhrsAligner ahrs_aligner
 
unsigned char buffer [4096]
 

Detailed Description

AHRS implementation for ardrone2-sdk based on AT-commands.

Uses AT-Commands to communicate with ardrone api to retrieve AHRS data and also sets battery level.

Definition in file ahrs_ardrone2.c.

Function Documentation

void ahrs_align ( void  )

Aligns the AHRS.

Called after ahrs_aligner has run to set initial attitude and biases. Must set the ahrs status to AHRS_RUNNING. Needs to be implemented by each AHRS algorithm.

Definition at line 84 of file ahrs_ardrone2.c.

void ahrs_aligner_init ( void  )

Definition at line 198 of file ahrs_ardrone2.c.

void ahrs_aligner_run ( void  )

Definition at line 201 of file ahrs_ardrone2.c.

void ahrs_init ( void  )

AHRS initialization.

Called at startup. Needs to be implemented by each AHRS algorithm.

Definition at line 70 of file ahrs_ardrone2.c.

References ahrs, AHRS_RUNNING, at_com_send_config(), at_com_send_ftrim(), init_at_com(), register_periodic_telemetry(), and Ahrs::status.

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Variable Documentation

struct AhrsAligner ahrs_aligner

Definition at line 46 of file ahrs_ardrone2.c.

struct AhrsARDrone ahrs_impl
unsigned char buffer[4096]

Definition at line 47 of file ahrs_ardrone2.c.

Referenced by ahrs_propagate(), and hott_send_msg().