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.h
Go to the documentation of this file.
1 /*
2  * Copyright (C) 2008-2012 The Paparazzi Team
3  *
4  * This file is part of paparazzi.
5  *
6  * paparazzi is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License as published by
8  * the Free Software Foundation; either version 2, or (at your option)
9  * any later version.
10  *
11  * paparazzi is distributed in the hope that it will be useful,
12  * but WITHOUT ANY WARRANTY; without even the implied warranty of
13  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14  * GNU General Public License for more details.
15  *
16  * You should have received a copy of the GNU General Public License
17  * along with paparazzi; see the file COPYING. If not, write to
18  * the Free Software Foundation, 59 Temple Place - Suite 330,
19  * Boston, MA 02111-1307, USA.
20  */
21 
27 #ifndef INS_H
28 #define INS_H
29 
30 #include "std.h"
31 #include "math/pprz_geodetic_int.h"
33 #include "state.h"
34 
35 enum InsStatus {
38 };
39 
40 /* underlying includes (needed for parameters) */
41 #ifdef INS_TYPE_H
42 #include INS_TYPE_H
43 #endif
44 
46 struct Ins {
48 };
49 
51 extern struct Ins ins;
52 
56 extern void ins_init(void);
57 
61 extern void ins_periodic(void);
62 
67 extern void ins_reset_local_origin(void);
68 
73 extern void ins_reset_altitude_ref(void);
74 
81 extern void ins_reset_utm_zone(struct UtmCoor_f * utm);
82 
87 extern void ins_propagate(void);
88 
93 extern void ins_update_gps(void);
94 
95 #endif /* INS_H */
Inertial Navigation System state.
Definition: ins.h:46
enum InsStatus status
status of the INS
Definition: ins.h:47
void ins_reset_utm_zone(struct UtmCoor_f *utm)
INS utm zone reset.
Definition: ins.c:49
Definition: ins.h:36
void ins_update_gps(void)
Update INS state with GPS measurements.
void ins_reset_local_origin(void)
INS local origin reset.
InsStatus
Definition: ins.h:35
Paparazzi floating point algebra.
position in UTM coordinates Units: meters
Paparazzi fixed point math for geodetic calculations.
void ins_propagate(void)
Propagation.
Definition: ins_ardrone2.c:93
struct Ins ins
global INS state
Definition: ins.c:36
API to get/set the generic vehicle states.
void ins_init(void)
INS initialization.
Definition: ins_alt_float.c:76
void ins_periodic(void)
INS periodic call.
Definition: ins_ardrone2.c:71
void ins_reset_altitude_ref(void)
INS altitude reference reset.