Paparazzi UAS  v5.2.2_stable-0-gd6b9f29
Paparazzi is a free software Unmanned Aircraft System.
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ins_int.h
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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 
29 #ifndef INS_INT_H
30 #define INS_INT_H
31 
32 #include "subsystems/ins.h"
33 #include "std.h"
34 #include "math/pprz_geodetic_int.h"
36 
38 struct InsInt {
39  struct LtpDef_i ltp_def;
41 
45  bool_t hf_realign;
46 
50  bool_t vf_reset;
51 
52  /* output LTP NED */
56 
57  /* baro */
58  float baro_z;
59  float qfe;
61 
62 #if USE_SONAR
63  bool_t update_on_agl;
64 #endif
65 };
66 
68 extern struct InsInt ins_impl;
69 
70 #endif /* INS_INT_H */
float baro_z
z-position calculated from baro in meters (z-down)
Definition: ins_int.h:58
bool_t baro_initialized
Definition: ins_int.h:60
Integrated Navigation System interface.
struct LtpDef_i ltp_def
Definition: ins_int.h:39
vector in North East Down coordinates
definition of the local (flat earth) coordinate system
float qfe
Definition: ins_int.h:59
Paparazzi floating point algebra.
struct InsInt ins_impl
global INS state
Definition: ins_alt_float.c:51
Paparazzi fixed point math for geodetic calculations.
bool_t ltp_initialized
Definition: ins_int.h:40
struct NedCoor_i ltp_accel
Definition: ins_int.h:55
struct NedCoor_i ltp_speed
Definition: ins_int.h:54
struct NedCoor_i ltp_pos
Definition: ins_int.h:53
bool_t hf_realign
request to realign horizontal filter.
Definition: ins_int.h:45
Ins implementation state (fixed point)
Definition: ins_int.h:38
bool_t vf_reset
request to reset vertical filter.
Definition: ins_int.h:50