ins_ekf2.h

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/*
 * Copyright (C) 2016 Freek van Tienen <freek.v.tienen@gmail.com>
 *
 * This file is part of paparazzi.
 *
 * paparazzi is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2, or (at your option)
 * any later version.
 *
 * paparazzi is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with paparazzi; see the file COPYING.  If not, write to
 * the Free Software Foundation, 59 Temple Place - Suite 330,
 * Boston, MA 02111-1307, USA.
 */
 
#ifndef INS_EKF2_H
#define INS_EKF2_H
 
#ifdef __cplusplus
extern "C" {
#endif
 
#include "modules/ahrs/ahrs.h"
#include "modules/ins/ins.h"
 
/* Main EKF2 structure for keeping track of the status and use cross messaging */
struct ekf2_t {
  struct FloatRates delta_gyro;   
  struct FloatVect3 delta_accel;  
  uint32_t gyro_dt;               
  uint32_t accel_dt;              
  bool gyro_valid;                
  bool accel_valid;               
  uint32_t flow_stamp;            
  float rel_heading;              
  bool rel_heading_valid;         
 
  float temp;                     
  float qnh;                      
  uint8_t quat_reset_counter;     
  uint64_t ltp_stamp;             
  struct LtpDef_i ltp_def;        
  bool got_imu_data;              
 
  int32_t mag_fusion_type;
  int32_t fusion_mode;
};
 
extern void ins_ekf2_init(void);
extern void ins_ekf2_update(void);
extern void ins_ekf2_change_param(int32_t unk);
extern void ins_ekf2_remove_gps(int32_t mode);
extern void ins_ekf2_parse_EXTERNAL_POSE(uint8_t *buf);
extern void ins_ekf2_parse_EXTERNAL_POSE_SMALL(uint8_t *buf);
extern struct ekf2_t ekf2;
 
#ifdef INS_EXT_VISION_ROTATION
extern struct FloatQuat ins_ext_vision_rot;
#endif
 
#ifdef __cplusplus
}
#endif
 
#endif /* INS_EKF2_H */