24#ifndef AHRS_FLOAT_DCM_H
25#define AHRS_FLOAT_DCM_H
58#define Kp_ROLLPITCH 0.015
59#define Ki_ROLLPITCH 0.000010
73#ifndef AHRS_FLOAT_MIN_SPEED_GPS_COURSE
74#define AHRS_FLOAT_MIN_SPEED_GPS_COURSE 5
77#define PERFORMANCE_REPORTING 1
78#if PERFORMANCE_REPORTING == 1
void ahrs_dcm_propagate(struct FloatRates *gyro, float dt)
void ahrs_dcm_update_mag(struct FloatVect3 *mag)
struct FloatRates rate_correction
struct FloatRates body_rate
struct FloatEulers ltp_to_body_euler
void ahrs_dcm_update_accel(struct FloatVect3 *accel)
struct FloatRates gyro_bias
struct AhrsFloatDCM ahrs_dcm
bool ahrs_dcm_align(struct FloatRates *lp_gyro, struct FloatVect3 *lp_accel, struct FloatVect3 *lp_mag)
enum AhrsDCMStatus status
void ahrs_dcm_update_gps(struct GpsState *gps_s)
Device independent GPS code (interface)
data structure for GPS information
Paparazzi floating point algebra.
Generic orientation representation and conversions.
unsigned char uint8_t
Typedef defining 8 bit unsigned char type.