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Imu Struct Reference

abstract IMU interface providing fixed point interface More...

#include <imu.h>

+ Collaboration diagram for Imu:

Data Fields

struct Int32Rates gyro
 gyroscope measurements in rad/s in BFP with INT32_RATE_FRAC More...
 
struct Int32Vect3 accel
 accelerometer measurements in m/s^2 in BFP with INT32_ACCEL_FRAC More...
 
struct Int32Vect3 mag
 magnetometer measurements scaled to 1 in BFP with INT32_MAG_FRAC More...
 
struct Int32Rates gyro_prev
 previous gyroscope measurements More...
 
struct Int32Vect3 accel_prev
 previous accelerometer measurements More...
 
struct Int32Rates gyro_neutral
 gyroscope bias More...
 
struct Int32Vect3 accel_neutral
 accelerometer bias More...
 
struct Int32Vect3 mag_neutral
 magnetometer neutral readings (bias) More...
 
struct Int32Rates gyro_unscaled
 unscaled gyroscope measurements More...
 
struct Int32Vect3 accel_unscaled
 unscaled accelerometer measurements More...
 
struct Int32Vect3 mag_unscaled
 unscaled magnetometer measurements More...
 
struct OrientationReps body_to_imu
 rotation from body to imu frame More...
 
bool_t b2i_set_current
 flag for adjusting body_to_imu via settings. More...
 

Detailed Description

abstract IMU interface providing fixed point interface

Definition at line 40 of file imu.h.

Field Documentation

struct Int32Vect3 Imu::accel_neutral

accelerometer bias

Definition at line 47 of file imu.h.

Referenced by imu_init().

struct Int32Vect3 Imu::accel_prev

previous accelerometer measurements

Definition at line 45 of file imu.h.

bool_t Imu::b2i_set_current

flag for adjusting body_to_imu via settings.

if FALSE, reset to airframe values, if TRUE set current roll/pitch

Definition at line 57 of file imu.h.

Referenced by imu_SetBodyToImuCurrent().

struct Int32Rates Imu::gyro

gyroscope measurements in rad/s in BFP with INT32_RATE_FRAC

Definition at line 41 of file imu.h.

Referenced by ahrs_aligner_run(), ahrs_propagate(), and UM6_packet_read_message().

struct Int32Rates Imu::gyro_neutral

gyroscope bias

Definition at line 46 of file imu.h.

Referenced by imu_init().

struct Int32Rates Imu::gyro_prev

previous gyroscope measurements

Definition at line 44 of file imu.h.

Referenced by ahrs_propagate(), and propagate_ref().

struct Int32Vect3 Imu::mag

magnetometer measurements scaled to 1 in BFP with INT32_MAG_FRAC

Definition at line 43 of file imu.h.

Referenced by ahrs_aligner_run(), ahrs_update_mag(), ahrs_update_mag_2d(), ahrs_update_mag_2d_dumb(), ahrs_update_mag_full(), Drift_correction(), and UM6_packet_read_message().

struct Int32Vect3 Imu::mag_neutral

magnetometer neutral readings (bias)

Definition at line 48 of file imu.h.

Referenced by imu_init().


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