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AhrsIntCmplQuat Struct Reference

Ahrs implementation specifc values. More...

#include <ahrs_int_cmpl_quat.h>

+ Collaboration diagram for AhrsIntCmplQuat:

Data Fields

struct Int32Rates gyro_bias
 
struct Int32Rates imu_rate
 
struct Int32Rates rate_correction
 
struct Int64Quat high_rez_quat
 
struct Int64Rates high_rez_bias
 
struct Int32Quat ltp_to_imu_quat
 
struct Int32Vect3 mag_h
 
int32_t ltp_vel_norm
 
bool_t ltp_vel_norm_valid
 
bool_t heading_aligned
 
float weight
 
float accel_inv_kp
 
float accel_inv_ki
 
float mag_kp
 
float mag_ki
 
bool_t correct_gravity
 enable gravity vector correction by removing centrifugal acceleration More...
 
uint8_t gravity_heuristic_factor
 sets how strongly the gravity heuristic reduces accel correction. More...
 
float accel_omega
 filter cut-off frequency for correcting the attitude from accels. More...
 
float accel_zeta
 filter damping for correcting the gyro-bias from accels. More...
 
float mag_omega
 filter cut-off frequency for correcting the attitude (heading) from magnetometer. More...
 
float mag_zeta
 filter damping for correcting the gyro bias from magnetometer. More...
 

Detailed Description

Ahrs implementation specifc values.

Definition at line 41 of file ahrs_int_cmpl_quat.h.

Field Documentation

float AhrsIntCmplQuat::accel_inv_ki

Definition at line 55 of file ahrs_int_cmpl_quat.h.

Referenced by ahrs_set_accel_gains(), and ahrs_update_accel().

float AhrsIntCmplQuat::accel_inv_kp

Definition at line 54 of file ahrs_int_cmpl_quat.h.

Referenced by ahrs_set_accel_gains(), and ahrs_update_accel().

float AhrsIntCmplQuat::accel_omega

filter cut-off frequency for correcting the attitude from accels.

(pseudo-gravity measurement) only update through #ahrs_int_cmpl_quat_SetAccelOmega(omega)

Definition at line 72 of file ahrs_int_cmpl_quat.h.

Referenced by ahrs_init(), ahrs_int_cmpl_quat_SetAccelOmega(), and ahrs_set_accel_gains().

float AhrsIntCmplQuat::accel_zeta

filter damping for correcting the gyro-bias from accels.

(pseudo-gravity measurement) only update through #ahrs_int_cmpl_quat_SetAccelZeta(zeta)

Definition at line 78 of file ahrs_int_cmpl_quat.h.

Referenced by ahrs_init(), ahrs_int_cmpl_quat_SetAccelZeta(), and ahrs_set_accel_gains().

bool_t AhrsIntCmplQuat::correct_gravity

enable gravity vector correction by removing centrifugal acceleration

Definition at line 61 of file ahrs_int_cmpl_quat.h.

Referenced by ahrs_init(), and ahrs_update_accel().

uint8_t AhrsIntCmplQuat::gravity_heuristic_factor

sets how strongly the gravity heuristic reduces accel correction.

Set to zero in order to disable gravity heuristic.

Definition at line 66 of file ahrs_int_cmpl_quat.h.

Referenced by ahrs_init(), and ahrs_update_accel().

bool_t AhrsIntCmplQuat::heading_aligned

Definition at line 52 of file ahrs_int_cmpl_quat.h.

Referenced by ahrs_align(), ahrs_init(), ahrs_realign_heading(), and ahrs_update_gps().

struct Int64Rates AhrsIntCmplQuat::high_rez_bias
struct Int64Quat AhrsIntCmplQuat::high_rez_quat

Definition at line 45 of file ahrs_int_cmpl_quat.h.

Referenced by ahrs_propagate().

struct Int32Rates AhrsIntCmplQuat::imu_rate

Definition at line 43 of file ahrs_int_cmpl_quat.h.

Referenced by ahrs_init(), ahrs_propagate(), and set_body_state_from_quat().

int32_t AhrsIntCmplQuat::ltp_vel_norm

Definition at line 50 of file ahrs_int_cmpl_quat.h.

Referenced by ahrs_update_accel(), and ahrs_update_gps().

bool_t AhrsIntCmplQuat::ltp_vel_norm_valid

Definition at line 51 of file ahrs_int_cmpl_quat.h.

Referenced by ahrs_init(), ahrs_update_accel(), and ahrs_update_gps().

struct Int32Vect3 AhrsIntCmplQuat::mag_h

Definition at line 48 of file ahrs_int_cmpl_quat.h.

Referenced by ahrs_init(), ahrs_update_mag_2d(), and ahrs_update_mag_full().

float AhrsIntCmplQuat::mag_ki
float AhrsIntCmplQuat::mag_kp
float AhrsIntCmplQuat::mag_omega

filter cut-off frequency for correcting the attitude (heading) from magnetometer.

only update through #ahrs_int_cmpl_quat_SetMagOmega(omega)

Definition at line 83 of file ahrs_int_cmpl_quat.h.

Referenced by ahrs_init(), ahrs_int_cmpl_quat_SetMagOmega(), and ahrs_set_mag_gains().

float AhrsIntCmplQuat::mag_zeta

filter damping for correcting the gyro bias from magnetometer.

only update through #ahrs_int_cmpl_quat_SetMagZeta(zeta)

Definition at line 88 of file ahrs_int_cmpl_quat.h.

Referenced by ahrs_init(), ahrs_int_cmpl_quat_SetMagZeta(), and ahrs_set_mag_gains().

struct Int32Rates AhrsIntCmplQuat::rate_correction
float AhrsIntCmplQuat::weight

Definition at line 53 of file ahrs_int_cmpl_quat.h.

Referenced by ahrs_update_accel().


The documentation for this struct was generated from the following file: