Paparazzi UAS  v5.2.2_stable-0-gd6b9f29
Paparazzi is a free software Unmanned Aircraft System.
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State interface

This general state interface holds all the most important vehicle states like position, velocity, attitude, etc. More...

+ Collaboration diagram for State interface:

Modules

 Position representations
 
 Speed representations
 
 Acceleration representations
 
 Angular rate representations
 
 Wind- and airspeed representations
 
 Attitude representations
 

Data Structures

struct  State
 Structure holding vehicle state data. More...
 

Functions

void stateInit (void)
 

Variables

struct State state
 

Detailed Description

This general state interface holds all the most important vehicle states like position, velocity, attitude, etc.

It handles coordinate system and fixed-/floating-point conversion on the fly when needed.

You can set e.g. the position in any coordinate system you wish: stateSetPositionNed_i() to set the position in fixed-point NED coordinates. If you need to read the position somewhere else in a different representation, call: stateGetPositionLla_f() and only then the LLA float position representation is calculated on the fly and returned. It's also only calculated once, until a new position is set which invalidates all the other representations again.

Function Documentation

Variable Documentation

struct State state

Definition at line 36 of file state.c.

Referenced by ahrs_update_gps(), dl_parse_msg(), error_output(), ins_reset_altitude_ref(), max7456_periodic(), mission_point_of_lla(), nav_move_waypoint_lla(), nav_reset_alt(), nav_reset_reference(), stateCalcAccelEcef_f(), stateCalcAccelEcef_i(), stateCalcAccelNed_f(), stateCalcAccelNed_i(), stateCalcAirspeed_f(), stateCalcAirspeed_i(), stateCalcBodyRates_f(), stateCalcBodyRates_i(), stateCalcHorizontalSpeedDir_f(), stateCalcHorizontalSpeedDir_i(), stateCalcHorizontalSpeedNorm_f(), stateCalcHorizontalSpeedNorm_i(), stateCalcHorizontalWindspeed_f(), stateCalcHorizontalWindspeed_i(), stateCalcPositionEcef_f(), stateCalcPositionEcef_i(), stateCalcPositionEnu_f(), stateCalcPositionEnu_i(), stateCalcPositionLla_f(), stateCalcPositionLla_i(), stateCalcPositionNed_f(), stateCalcPositionNed_i(), stateCalcPositionUtm_f(), stateCalcSpeedEcef_f(), stateCalcSpeedEcef_i(), stateCalcSpeedEnu_f(), stateCalcSpeedEnu_i(), stateCalcSpeedNed_f(), stateCalcSpeedNed_i(), stateGetAccelEcef_f(), stateGetAccelEcef_i(), stateGetAccelNed_f(), stateGetAccelNed_i(), stateGetAirspeed_f(), stateGetAirspeed_i(), stateGetAngleOfAttack_f(), stateGetBodyRates_f(), stateGetBodyRates_i(), stateGetHorizontalSpeedDir_f(), stateGetHorizontalSpeedDir_i(), stateGetHorizontalSpeedNorm_f(), stateGetHorizontalSpeedNorm_i(), stateGetHorizontalWindspeed_f(), stateGetHorizontalWindspeed_i(), stateGetNedToBodyEulers_f(), stateGetNedToBodyEulers_i(), stateGetNedToBodyQuat_f(), stateGetNedToBodyQuat_i(), stateGetNedToBodyRMat_f(), stateGetNedToBodyRMat_i(), stateGetPositionEcef_f(), stateGetPositionEcef_i(), stateGetPositionEnu_f(), stateGetPositionEnu_i(), stateGetPositionLla_f(), stateGetPositionLla_i(), stateGetPositionNed_f(), stateGetPositionNed_i(), stateGetPositionUtm_f(), stateGetSideslip_f(), stateGetSpeedEcef_f(), stateGetSpeedEcef_i(), stateGetSpeedEnu_f(), stateGetSpeedEnu_i(), stateGetSpeedNed_f(), stateGetSpeedNed_i(), stateInit(), stateIsAccelValid(), stateIsAirspeedValid(), stateIsAngleOfAttackValid(), stateIsAttitudeValid(), stateIsGlobalCoordinateValid(), stateIsLocalCoordinateValid(), stateIsRateValid(), stateIsSideslipValid(), stateIsWindspeedValid(), stateSetAccelEcef_f(), stateSetAccelEcef_i(), stateSetAccelNed_f(), stateSetAccelNed_i(), stateSetAirspeed_f(), stateSetAirspeed_i(), stateSetAngleOfAttack_f(), stateSetBodyRates_f(), stateSetBodyRates_i(), stateSetHorizontalWindspeed_f(), stateSetHorizontalWindspeed_i(), stateSetLocalUtmOrigin_f(), stateSetNedToBodyEulers_f(), stateSetNedToBodyEulers_i(), stateSetNedToBodyQuat_f(), stateSetNedToBodyQuat_i(), stateSetNedToBodyRMat_f(), stateSetNedToBodyRMat_i(), stateSetPosition_f(), stateSetPosition_i(), stateSetPositionEcef_f(), stateSetPositionEcef_i(), stateSetPositionEnu_f(), stateSetPositionEnu_i(), stateSetPositionLla_f(), stateSetPositionLla_i(), stateSetPositionNed_f(), stateSetPositionNed_i(), stateSetPositionUtm_f(), stateSetSideslip_f(), stateSetSpeed_f(), stateSetSpeed_i(), stateSetSpeedEcef_f(), stateSetSpeedEcef_i(), stateSetSpeedEnu_f(), stateSetSpeedEnu_i(), stateSetSpeedNed_f(), and stateSetSpeedNed_i().