Paparazzi UAS  v5.2.2_stable-0-gd6b9f29
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ahrs_float_cmpl.h
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21 
30 #ifndef AHRS_FLOAT_CMPL
31 #define AHRS_FLOAT_CMPL
32 
33 #include "std.h"
34 
35 struct AhrsFloatCmpl {
41 
42  bool_t correct_gravity;
43  float ltp_vel_norm;
45 
46  float accel_omega;
47  float accel_zeta;
48  float mag_omega;
49  float mag_zeta;
50 
55  float weight;
56 
58  struct FloatVect3 mag_h;
59 };
60 
61 extern struct AhrsFloatCmpl ahrs_impl;
62 
63 
68 void ahrs_update_heading(float heading);
69 
75 void ahrs_realign_heading(float heading);
76 
77 #ifdef AHRS_UPDATE_FW_ESTIMATOR
78 extern float ins_roll_neutral;
79 extern float ins_pitch_neutral;
80 #endif
81 
82 
83 #endif /* AHRS_FLOAT_CMPL_RMAT */
rotation matrix
struct FloatRates rate_correction
void ahrs_realign_heading(float heading)
Hard reset yaw to a heading.
angular rates
bool_t heading_aligned
struct FloatRates gyro_bias
float ltp_vel_norm
velocity norm for gravity correction during coordinated turns
struct FloatRMat ltp_to_imu_rmat
struct FloatRates imu_rate
float accel_omega
filter cut-off frequency for correcting the attitude from accels (pseudo-gravity measurement) ...
Roation quaternion.
bool_t correct_gravity
enable gravity correction during coordinated turns
void ahrs_update_heading(float heading)
Update yaw based on a heading measurement.
float heading
Definition: ahrs_infrared.c:40
struct FloatQuat ltp_to_imu_quat
float mag_omega
filter cut-off frequency for correcting the attitude (heading) from magnetometer
struct AhrsFloatCmpl ahrs_impl
Definition: ahrs_ardrone2.c:45
float ins_pitch_neutral
Definition: ins_arduimu.c:15
float mag_zeta
filter damping for correcting the gyro bias from magnetometer
unsigned char uint8_t
Definition: types.h:14
bool_t ltp_vel_norm_valid
float accel_zeta
filter damping for correcting the gyro-bias from accels (pseudo-gravity measurement) ...
uint8_t gravity_heuristic_factor
sets how strongly the gravity heuristic reduces accel correction.
float ins_roll_neutral
Definition: ins_arduimu.c:14
struct FloatVect3 mag_h