Paparazzi UAS  v6.2_unstable
Paparazzi is a free software Unmanned Aircraft System.
xsens.h
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1 /*
2  * Copyright (C) 2010 ENAC
3  *
4  * This file is part of paparazzi.
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22 
27 #ifndef XSENS_H
28 #define XSENS_H
29 
30 #include "std.h"
33 #include "math/pprz_geodetic_int.h"
34 
35 #include "xsens_parser.h"
36 
37 
38 #if USE_GPS_XSENS
39 #include "modules/gps/gps.h"
40 #endif
41 
42 struct XsensTime {
50 };
51 
52 struct Xsens {
53  struct XsensTime time;
55 
56  struct FloatRates gyro;
57  struct FloatVect3 accel;
58  struct FloatVect3 mag;
59 
60  struct LlaCoor_f lla_f;
61  struct FloatVect3 vel;
62 
63  struct FloatQuat quat;
65 
67  volatile bool new_attitude;
68 
72 
73 #if USE_GPS_XSENS
74  struct GpsState gps;
75  bool gps_available;
76 #endif
77 };
78 
79 extern struct Xsens xsens;
80 
81 extern void xsens_init(void);
82 extern void xsens_periodic(void);
83 extern void parse_xsens_msg(void);
84 
85 #endif /* XSENS_H */
int8_t
signed char int8_t
Typedef defining 8 bit char type.
Definition: vl53l1_types.h:103
XsensTime::month
int8_t month
Definition: xsens.h:48
Xsens::vel
struct FloatVect3 vel
NED velocity in m/s.
Definition: xsens.h:61
XsensTime::year
int16_t year
Definition: xsens.h:47
Xsens::mag_available
bool mag_available
Definition: xsens.h:71
XsensTime::day
int8_t day
Definition: xsens.h:49
xsens_periodic
void xsens_periodic(void)
Definition: xsens.c:124
Xsens::time_stamp
uint16_t time_stamp
Definition: xsens.h:54
Xsens::mag
struct FloatVect3 mag
Definition: xsens.h:58
Xsens
Definition: xsens.h:52
Xsens::gyro_available
bool gyro_available
Definition: xsens.h:69
xsens_init
void xsens_init(void)
Definition: xsens.c:113
Xsens::new_attitude
volatile bool new_attitude
Definition: xsens.h:67
pprz_geodetic_int.h
Paparazzi fixed point math for geodetic calculations.
Xsens::euler
struct FloatEulers euler
Definition: xsens.h:64
GpsState
data structure for GPS information
Definition: gps.h:87
XsensTime::hour
int8_t hour
Definition: xsens.h:43
pprz_algebra_float.h
Paparazzi floating point algebra.
Xsens::accel_available
bool accel_available
Definition: xsens.h:70
Xsens::quat
struct FloatQuat quat
Definition: xsens.h:63
parse_xsens_msg
void parse_xsens_msg(void)
Definition: xsens.c:184
xsens
struct Xsens xsens
Definition: xsens.c:109
XsensParser
Definition: xsens_parser.h:46
FloatVect3
Definition: pprz_algebra_float.h:54
int16_t
short int16_t
Typedef defining 16 bit short type.
Definition: vl53l1_types.h:93
FloatQuat
Roation quaternion.
Definition: pprz_algebra_float.h:63
std.h
pprz_geodetic_float.h
Paparazzi floating point math for geodetic calculations.
Xsens::accel
struct FloatVect3 accel
Definition: xsens.h:57
gps.h
Device independent GPS code (interface)
Xsens::parser
struct XsensParser parser
Definition: xsens.h:66
xsens_parser.h
XsensTime::min
int8_t min
Definition: xsens.h:44
int32_t
int int32_t
Typedef defining 32 bit int type.
Definition: vl53l1_types.h:83
Xsens::gyro
struct FloatRates gyro
Definition: xsens.h:56
Xsens::time
struct XsensTime time
Definition: xsens.h:53
XsensTime
Definition: xsens.h:42
FloatEulers
euler angles
Definition: pprz_algebra_float.h:84
uint16_t
unsigned short uint16_t
Typedef defining 16 bit unsigned short type.
Definition: vl53l1_types.h:88
Xsens::lla_f
struct LlaCoor_f lla_f
Definition: xsens.h:60
gps
struct GpsState gps
global GPS state
Definition: gps.c:69
XsensTime::sec
int8_t sec
Definition: xsens.h:45
gps_available
bool gps_available
Definition: gps_sim_hitl.c:36
XsensTime::nanosec
int32_t nanosec
Definition: xsens.h:46
FloatRates
angular rates
Definition: pprz_algebra_float.h:93
LlaCoor_f
vector in Latitude, Longitude and Altitude
Definition: pprz_geodetic_float.h:54