Paparazzi UAS  v6.0_unstable-94-gda5b527-dirty
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ahrs_aligner.h File Reference

Interface to align the AHRS via low-passed measurements at startup. More...

#include "std.h"
#include "math/pprz_algebra_int.h"
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Data Structures

struct  AhrsAligner
 

Macros

#define AHRS_ALIGNER_UNINIT   0
 
#define AHRS_ALIGNER_RUNNING   1
 
#define AHRS_ALIGNER_LOCKED   2
 

Functions

void ahrs_aligner_init (void)
 
void ahrs_aligner_restart (void)
 
void ahrs_aligner_run (void)
 

Variables

struct AhrsAligner ahrs_aligner
 

Detailed Description

Interface to align the AHRS via low-passed measurements at startup.

Definition in file ahrs_aligner.h.


Data Structure Documentation

struct AhrsAligner

Definition at line 39 of file ahrs_aligner.h.

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Data Fields
int32_t low_noise_cnt
struct Int32Vect3 lp_accel
struct Int32Rates lp_gyro
struct Int32Vect3 lp_mag
int32_t noise
uint8_t status

Macro Definition Documentation

#define AHRS_ALIGNER_LOCKED   2

Definition at line 37 of file ahrs_aligner.h.

Referenced by ahrs_aligner_run(), and gyro_cb().

#define AHRS_ALIGNER_RUNNING   1

Definition at line 36 of file ahrs_aligner.h.

Referenced by ahrs_aligner_restart().

#define AHRS_ALIGNER_UNINIT   0

Definition at line 35 of file ahrs_aligner.h.

Function Documentation

void ahrs_aligner_init ( void  )

Definition at line 81 of file ahrs_aligner.c.

References AHRS_ALIGNER_IMU_ID, ahrs_aligner_restart(), DefaultPeriodic, gyro_cb(), register_periodic_telemetry(), and send_aligner().

Referenced by ahrs_init(), ins_float_invariant_wrapper_init(), and ins_mekf_wind_wrapper_init().

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void ahrs_aligner_restart ( void  )

Variable Documentation

struct AhrsAligner ahrs_aligner

Definition at line 37 of file ahrs_aligner.c.

Referenced by ahrs_aligner_restart(), ahrs_aligner_run(), gyro_cb(), and send_aligner().