Paparazzi UAS  v6.2_unstable
Paparazzi is a free software Unmanned Aircraft System.
ins_int.h
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1 /*
2  * Copyright (C) 2008-2012 The Paparazzi Team
3  *
4  * This file is part of paparazzi.
5  *
6  * paparazzi is free software; you can redistribute it and/or modify
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14  * GNU General Public License for more details.
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21 
29 #ifndef INS_INT_H
30 #define INS_INT_H
31 
32 #include "modules/ins/ins.h"
33 #include "modules/gps/gps.h"
34 #include "std.h"
35 #include "math/pprz_geodetic_int.h"
37 
39 struct InsInt {
40  struct LtpDef_i ltp_def;
42 
44 
48  bool hf_realign;
49 
53  bool vf_reset;
54 
55  /* output LTP NED */
59 
60  /* baro */
61  float baro_z;
62  float qfe;
64 };
65 
67 extern struct InsInt ins_int;
68 
69 extern void ins_int_init(void);
70 extern void ins_int_propagate(struct Int32Vect3 *accel, float dt);
71 extern void ins_int_update_gps(struct GpsState *gps_s);
72 
73 #endif /* INS_INT_H */
ins.h
uint32_t
unsigned int uint32_t
Typedef defining 32 bit unsigned int type.
Definition: vl53l1_types.h:78
InsInt::baro_z
float baro_z
z-position calculated from baro in meters (z-down)
Definition: ins_int.h:61
InsInt::hf_realign
bool hf_realign
request to realign horizontal filter.
Definition: ins_int.h:48
InsInt::ltp_accel
struct NedCoor_i ltp_accel
Definition: ins_int.h:58
LtpDef_i
definition of the local (flat earth) coordinate system
Definition: pprz_geodetic_int.h:98
pprz_geodetic_int.h
Paparazzi fixed point math for geodetic calculations.
GpsState
data structure for GPS information
Definition: gps.h:87
InsInt::ltp_def
struct LtpDef_i ltp_def
Definition: ins_int.h:40
InsInt::propagation_cnt
uint32_t propagation_cnt
number of propagation steps since the last measurement update
Definition: ins_int.h:43
pprz_algebra_float.h
Paparazzi floating point algebra.
InsInt::qfe
float qfe
Definition: ins_int.h:62
std.h
gps.h
Device independent GPS code (interface)
InsInt::ltp_pos
struct NedCoor_i ltp_pos
Definition: ins_int.h:56
InsInt::baro_initialized
bool baro_initialized
Definition: ins_int.h:63
NedCoor_i
vector in North East Down coordinates
Definition: pprz_geodetic_int.h:68
ins_int_propagate
void ins_int_propagate(struct Int32Vect3 *accel, float dt)
Definition: ins_int.c:283
Int32Vect3
Definition: pprz_algebra_int.h:88
ins_int
struct InsInt ins_int
global INS state
Definition: ins_int.c:161
InsInt
Ins implementation state (fixed point)
Definition: ins_int.h:39
ins_int_update_gps
void ins_int_update_gps(struct GpsState *gps_s)
Definition: ins_int.c:387
InsInt::ltp_speed
struct NedCoor_i ltp_speed
Definition: ins_int.h:57
ins_int_init
void ins_int_init(void)
Definition: ins_int.c:198
InsInt::vf_reset
bool vf_reset
request to reset vertical filter.
Definition: ins_int.h:53
InsInt::ltp_initialized
bool ltp_initialized
Definition: ins_int.h:41