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

Inertial Measurement Unit interface. More...

#include <BOARD_CONFIG>
#include "subsystems/imu.h"
#include "state.h"
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Functions

void imu_init (void)
 
void imu_float_init (void)
 
void imu_SetBodyToImuPhi (float phi)
 
void imu_SetBodyToImuTheta (float theta)
 
void imu_SetBodyToImuPsi (float psi)
 
void imu_SetBodyToImuCurrent (float set)
 

Variables

struct Imu imu
 global IMU state More...
 
struct ImuFloat imuf
 

Detailed Description

Inertial Measurement Unit interface.

Definition in file imu.c.

Function Documentation

void imu_float_init ( void  )

Definition at line 158 of file imu.c.

References ImuFloat::body_to_imu, IMU_BODY_TO_IMU_PHI, IMU_BODY_TO_IMU_PSI, IMU_BODY_TO_IMU_THETA, imuf, and orientationSetEulers_f().

Referenced by init_ap(), and main_init().

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void imu_SetBodyToImuPhi ( float  phi)

Definition at line 164 of file imu.c.

References Imu::body_to_imu, imu, orientationGetEulers_f(), orientationSetEulers_f(), and FloatEulers::phi.

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void imu_SetBodyToImuPsi ( float  psi)

Definition at line 178 of file imu.c.

References Imu::body_to_imu, imu, orientationGetEulers_f(), orientationSetEulers_f(), and FloatEulers::psi.

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void imu_SetBodyToImuTheta ( float  theta)

Definition at line 171 of file imu.c.

References Imu::body_to_imu, imu, orientationGetEulers_f(), orientationSetEulers_f(), and FloatEulers::theta.

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Variable Documentation

struct Imu imu

global IMU state

Definition at line 110 of file imu.c.

Referenced by imu_init(), imu_SetBodyToImuCurrent(), imu_SetBodyToImuPhi(), imu_SetBodyToImuPsi(), and imu_SetBodyToImuTheta().

struct ImuFloat imuf

Definition at line 111 of file imu.c.

Referenced by ahrs_init(), gx3_packet_read_message(), and imu_float_init().