Paparazzi UAS v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
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ins_alt_float.h
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1/*
2 * Copyright (C) 2004-2006 Pascal Brisset, Antoine Drouin
3 * Copyright (C) 2012 Gautier Hattenberger
4 *
5 * This file is part of paparazzi.
6 *
7 * paparazzi is free software; you can redistribute it and/or modify
8 * it under the terms of the GNU General Public License as published by
9 * the Free Software Foundation; either version 2, or (at your option)
10 * any later version.
11 *
12 * paparazzi is distributed in the hope that it will be useful,
13 * but WITHOUT ANY WARRANTY; without even the implied warranty of
14 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
15 * GNU General Public License for more details.
16 *
17 * You should have received a copy of the GNU General Public License
18 * along with paparazzi; see the file COPYING. If not, write to
19 * the Free Software Foundation, 59 Temple Place - Suite 330,
20 * Boston, MA 02111-1307, USA.
21 */
22
28#ifndef INS_ALT_FLOAT_H
29#define INS_ALT_FLOAT_H
30
31#include "modules/ins/ins.h"
32
33#include <inttypes.h>
34#include "std.h"
35
38 float alt;
39 float alt_dot;
40
43
44#if USE_BAROMETER
45 float qfe;
46 float baro_alt;
48#endif
49};
50
51extern struct InsAltFloat ins_altf;
52
53extern void ins_alt_float_init(void);
54extern void ins_alt_float_update_baro(float pressure);
55
56#endif /* INS_ALT_FLOAT_H */
Integrated Navigation System interface.
float alt_dot
estimated vertical speed in m/s (positive-up)
bool reset_alt_ref
flag to request reset of altitude reference to current alt
float alt
estimated altitude above MSL in meters
bool baro_initialized
bool origin_initialized
TRUE if UTM origin was initialized.
struct InsAltFloat ins_altf
void ins_alt_float_init(void)
void ins_alt_float_update_baro(float pressure)
Ins implementation state (altitude, float)