Paparazzi UAS  v5.2.2_stable-0-gd6b9f29
Paparazzi is a free software Unmanned Aircraft System.
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ahrs_infrared.c File Reference

Attitude estimation using infrared sensors detecting the horizon. More...

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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_update_gps (void)
 Update AHRS state with GPS measurements. More...
 
void ahrs_update_infrared (void)
 

Variables

float heading
 

Detailed Description

Attitude estimation using infrared sensors detecting the horizon.

For fixedwings only:

  • GPS course is used as heading.
  • ADC channels can be used for gyros.

Definition in file ahrs_infrared.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 69 of file ahrs_infrared.c.

References ahrs, AHRS_RUNNING, and Ahrs::status.

void ahrs_init ( void  )

AHRS initialization.

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

Definition at line 58 of file ahrs_infrared.c.

References ahrs, AHRS_UNINIT, heading, register_periodic_telemetry(), send_status(), and Ahrs::status.

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void ahrs_propagate ( void  )

Propagation.

Usually integrates the gyro rates to angles. Reads the global imu data struct. Does nothing if not implemented by specific AHRS algorithm.

Definition at line 76 of file ahrs_infrared.c.

References Imu::gyro, imu, FloatRates::p, Int32Rates::p, FloatRates::q, Int32Rates::q, FloatRates::r, Int32Rates::r, RATE_FLOAT_OF_BFP, and stateSetBodyRates_f().

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void ahrs_update_gps ( void  )

Update AHRS state with GPS measurements.

Reads the global gps data struct. Does nothing if not implemented by specific AHRS algorithm.

Definition at line 91 of file ahrs_infrared.c.

References GpsState::course, gps, GpsState::gspeed, heading, stateGetHorizontalWindspeed_f(), FloatVect2::x, and FloatVect2::y.

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void ahrs_update_infrared ( void  )

Variable Documentation