Paparazzi UAS v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
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ahrs_vectornav_wrapper.c
Go to the documentation of this file.
1/*
2 * Copyright (C) 2016 Michal Podhradsky, michal.podhradsky@aggiemail.usu.edu
3 *
4 * This file is part of paparazzi.
5 *
6 * paparazzi is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2, or (at your option)
9 * any later version.
10 *
11 * paparazzi is distributed in the hope that it will be useful,
12 * but WITHOUT ANY WARRANTY; without even the implied warranty of
13 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14 * GNU General Public License for more details.
15 *
16 * You should have received a copy of the GNU General Public License
17 * along with paparazzi; see the file COPYING. If not, write to
18 * the Free Software Foundation, 59 Temple Place - Suite 330,
19 * Boston, MA 02111-1307, USA.
20 */
29#include "modules/ahrs/ahrs.h"
30#include "modules/core/abi.h"
31#include "state.h"
32
34
37
38#if PERIODIC_TELEMETRY
40
49#endif
50
64
73
Main include for ABI (AirBorneInterface).
#define AHRS_COMP_ID_VECTORNAV
Definition ahrs.h:46
#define AHRS_PRIMARY
Definition ahrs.h:32
struct AhrsVectornav ahrs_vn
void ahrs_vectornav_init(void)
Initialize Vectornav struct.
struct VNData vn_data
Data struct.
void ahrs_vectornav_wrapper_init(void)
uint8_t ahrs_vectornav_enable
static uint8_t ahrs_vectornav_id
void ahrs_vectornav_wrapper_enable(uint8_t enable)
static void send_euler(struct transport_tx *trans, struct link_device *dev)
Vectornav VN-200 as AHRS.
#define STATE_INPUT_RATES
Definition state.h:145
#define STATE_INPUT_ATTITUDE
Definition state.h:144
float phi
in radians
float theta
in radians
float psi
in radians
void stateSetInputFilter(uint8_t type, uint16_t flag)
set the input filter for a specified type of data.
Definition state.c:85
uint16_t foo
Definition main_demo5.c:58
PRINT_CONFIG_VAR(ONELOOP_ANDI_FILT_CUTOFF)
API to get/set the generic vehicle states.
static const struct usb_device_descriptor dev
Definition usb_ser_hw.c:74
int8_t register_periodic_telemetry(struct periodic_telemetry *_pt, uint8_t _id, telemetry_cb _cb)
Register a telemetry callback function.
Definition telemetry.c:51
Periodic telemetry system header (includes downlink utility and generated code).
#define DefaultPeriodic
Set default periodic telemetry.
Definition telemetry.h:66
unsigned char uint8_t
Typedef defining 8 bit unsigned char type.
struct FloatEulers attitude
Attitude, float, [rad], yaw, pitch, roll.