ahrs_vectornav_wrapper.c File Reference

Vectornav VN-200 as AHRS. More...

#include "modules/ahrs/ahrs_vectornav_wrapper.h"
#include "modules/ahrs/ahrs.h"
#include "modules/core/abi.h"
#include "state.h"
#include "modules/datalink/telemetry.h"

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Functions
static void	send_euler (struct transport_tx *trans, struct link_device *dev)
void	ahrs_vectornav_wrapper_init (void)
void	ahrs_vectornav_wrapper_enable (uint8_t enable)

Variables
uint8_t	ahrs_vectornav_enable
static uint8_t	ahrs_vectornav_id = AHRS_COMP_ID_VECTORNAV

Detailed Description

Vectornav VN-200 as AHRS.

Author

Michal Podhradsky micha.nosp@m.l.po.nosp@m.dhrad.nosp@m.sky@.nosp@m.aggie.nosp@m.mail.nosp@m..usu..nosp@m.edu

Definition in file ahrs_vectornav_wrapper.c.

Function Documentation

ahrs_vectornav_wrapper_enable()

void ahrs_vectornav_wrapper_enable

(

uint8_t

enable

)

Definition at line 65 of file ahrs_vectornav_wrapper.c.

References ahrs_vectornav_enable, STATE_INPUT_ATTITUDE, STATE_INPUT_RATES, and stateSetInputFilter().

Referenced by ahrs_vectornav_wrapper_init().

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ahrs_vectornav_wrapper_init()

void ahrs_vectornav_wrapper_init

(

void

)

Definition at line 51 of file ahrs_vectornav_wrapper.c.

References AHRS_PRIMARY, ahrs_vectornav_init(), ahrs_vectornav_wrapper_enable(), DefaultPeriodic, register_periodic_telemetry(), and send_euler().

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send_euler()

static void send_euler ( struct transport_tx *  trans, struct link_device *  dev  )

static

Definition at line 41 of file ahrs_vectornav_wrapper.c.

References ahrs_vectornav_id, ahrs_vn, VNData::attitude, dev, FloatEulers::phi, FloatEulers::psi, FloatEulers::theta, and AhrsVectornav::vn_data.

Referenced by ahrs_vectornav_wrapper_init().

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Variable Documentation

ahrs_vectornav_enable

uint8_t ahrs_vectornav_enable

Definition at line 35 of file ahrs_vectornav_wrapper.c.

Referenced by ahrs_vectornav_wrapper_enable().

ahrs_vectornav_id

uint8_t ahrs_vectornav_id = AHRS_COMP_ID_VECTORNAV

static

Definition at line 36 of file ahrs_vectornav_wrapper.c.

Referenced by send_euler().