Paparazzi UAS  v5.2.2_stable-0-gd6b9f29
Paparazzi is a free software Unmanned Aircraft System.
 All Data Structures Files Functions Variables Typedefs Enumerations Enumerator Macros Modules Pages
ins_arduimu_basic.c
Go to the documentation of this file.
1 
6 #include "generated/airframe.h"
7 #include "state.h"
8 
9 // Arduimu empty implementation
11 
15 
19 
20 // Updates from Ocaml sim
21 extern float sim_phi;
22 extern float sim_theta;
23 extern float sim_p;
24 extern float sim_q;
25 extern float sim_r;
26 
27 void ArduIMU_init( void ) {}
28 void ArduIMU_periodic( void ) {
29  // Feed directly the estimator
30  struct FloatEulers att = {
33  0.
34  };
36  struct FloatRates rates = { sim_p, sim_q, sim_r };
37  stateSetBodyRates_f(&rates);
38 }
39 void ArduIMU_periodicGPS( void ) {}
40 void ArduIMU_event( void ) {}
static void stateSetNedToBodyEulers_f(struct FloatEulers *ned_to_body_eulers)
Set vehicle body attitude from euler angles (float).
Definition: state.h:995
float sim_q
in radians/s
Definition: jsbsim_ahrs.c:15
angular rates
float sim_phi
in radians
Definition: jsbsim_ahrs.c:11
euler angles
struct FloatVect3 arduimu_accel
struct FloatEulers arduimu_eulers
ArduIMU simulation.
void ArduIMU_init(void)
struct FloatRates arduimu_rates
float sim_p
in radians/s
Definition: jsbsim_ahrs.c:14
float ins_roll_neutral
void ArduIMU_periodic(void)
void ArduIMU_periodicGPS(void)
API to get/set the generic vehicle states.
float sim_theta
in radians
Definition: jsbsim_ahrs.c:12
float ins_pitch_neutral
static void stateSetBodyRates_f(struct FloatRates *body_rate)
Set vehicle body angular rate (float).
Definition: state.h:1062
void ArduIMU_event(void)
float sim_r
in radians/s
Definition: jsbsim_ahrs.c:16
bool_t arduimu_calibrate_neutrals