Paparazzi UAS  v5.10_stable-5-g83a0da5-dirty
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imu_nps.h File Reference
#include "subsystems/imu.h"
#include "generated/airframe.h"
+ Include dependency graph for imu_nps.h:

Go to the source code of this file.

Data Structures

struct  ImuNps
 

Macros

#define IMU_GYRO_P_SENS   4.359
 we just define some defaults for aspirin v1.5 for now More...
 
#define IMU_GYRO_P_SENS_NUM   4359
 
#define IMU_GYRO_P_SENS_DEN   1000
 
#define IMU_GYRO_Q_SENS   4.359
 
#define IMU_GYRO_Q_SENS_NUM   4359
 
#define IMU_GYRO_Q_SENS_DEN   1000
 
#define IMU_GYRO_R_SENS   4.359
 
#define IMU_GYRO_R_SENS_NUM   4359
 
#define IMU_GYRO_R_SENS_DEN   1000
 
#define IMU_ACCEL_X_SENS   37.91
 we just define some defaults for aspirin v1.5 for now More...
 
#define IMU_ACCEL_X_SENS_NUM   3791
 
#define IMU_ACCEL_X_SENS_DEN   100
 
#define IMU_ACCEL_Y_SENS   37.91
 
#define IMU_ACCEL_Y_SENS_NUM   3791
 
#define IMU_ACCEL_Y_SENS_DEN   100
 
#define IMU_ACCEL_Z_SENS   39.24
 
#define IMU_ACCEL_Z_SENS_NUM   3924
 
#define IMU_ACCEL_Z_SENS_DEN   100
 
#define IMU_MAG_X_SENS   3.5
 
#define IMU_MAG_X_SENS_NUM   7
 
#define IMU_MAG_X_SENS_DEN   2
 
#define IMU_MAG_Y_SENS   3.5
 
#define IMU_MAG_Y_SENS_NUM   7
 
#define IMU_MAG_Y_SENS_DEN   2
 
#define IMU_MAG_Z_SENS   3.5
 
#define IMU_MAG_Z_SENS_NUM   7
 
#define IMU_MAG_Z_SENS_DEN   2
 

Functions

void imu_feed_gyro_accel (void)
 
void imu_feed_mag (void)
 
void imu_nps_init (void)
 
void imu_nps_event (void)
 

Variables

struct ImuNps imu_nps
 

Data Structure Documentation

struct ImuNps

Definition at line 72 of file imu_nps.h.

Data Fields
uint8_t accel_available
uint8_t gyro_available
uint8_t mag_available

Macro Definition Documentation

#define IMU_ACCEL_X_SENS   37.91

we just define some defaults for aspirin v1.5 for now

Definition at line 47 of file imu_nps.h.

#define IMU_ACCEL_X_SENS_DEN   100

Definition at line 49 of file imu_nps.h.

#define IMU_ACCEL_X_SENS_NUM   3791

Definition at line 48 of file imu_nps.h.

#define IMU_ACCEL_Y_SENS   37.91

Definition at line 50 of file imu_nps.h.

#define IMU_ACCEL_Y_SENS_DEN   100

Definition at line 52 of file imu_nps.h.

#define IMU_ACCEL_Y_SENS_NUM   3791

Definition at line 51 of file imu_nps.h.

#define IMU_ACCEL_Z_SENS   39.24

Definition at line 53 of file imu_nps.h.

#define IMU_ACCEL_Z_SENS_DEN   100

Definition at line 55 of file imu_nps.h.

#define IMU_ACCEL_Z_SENS_NUM   3924

Definition at line 54 of file imu_nps.h.

#define IMU_GYRO_P_SENS   4.359

we just define some defaults for aspirin v1.5 for now

Definition at line 32 of file imu_nps.h.

#define IMU_GYRO_P_SENS_DEN   1000

Definition at line 34 of file imu_nps.h.

#define IMU_GYRO_P_SENS_NUM   4359

Definition at line 33 of file imu_nps.h.

#define IMU_GYRO_Q_SENS   4.359

Definition at line 35 of file imu_nps.h.

#define IMU_GYRO_Q_SENS_DEN   1000

Definition at line 37 of file imu_nps.h.

#define IMU_GYRO_Q_SENS_NUM   4359

Definition at line 36 of file imu_nps.h.

#define IMU_GYRO_R_SENS   4.359

Definition at line 38 of file imu_nps.h.

#define IMU_GYRO_R_SENS_DEN   1000

Definition at line 40 of file imu_nps.h.

#define IMU_GYRO_R_SENS_NUM   4359

Definition at line 39 of file imu_nps.h.

#define IMU_MAG_X_SENS   3.5

Definition at line 60 of file imu_nps.h.

#define IMU_MAG_X_SENS_DEN   2

Definition at line 62 of file imu_nps.h.

#define IMU_MAG_X_SENS_NUM   7

Definition at line 61 of file imu_nps.h.

#define IMU_MAG_Y_SENS   3.5

Definition at line 63 of file imu_nps.h.

#define IMU_MAG_Y_SENS_DEN   2

Definition at line 65 of file imu_nps.h.

#define IMU_MAG_Y_SENS_NUM   7

Definition at line 64 of file imu_nps.h.

#define IMU_MAG_Z_SENS   3.5

Definition at line 66 of file imu_nps.h.

#define IMU_MAG_Z_SENS_DEN   2

Definition at line 68 of file imu_nps.h.

#define IMU_MAG_Z_SENS_NUM   7

Definition at line 67 of file imu_nps.h.

Function Documentation

void imu_feed_gyro_accel ( void  )

Definition at line 40 of file imu_nps.c.

References NpsSensors::accel, ImuNps::accel_available, Imu::accel_unscaled, NpsSensors::gyro, ImuNps::gyro_available, Imu::gyro_unscaled, imu, imu_nps, RATES_ASSIGN, sensors, NpsSensorAccel::value, NpsSensorGyro::value, VECT3_ASSIGN, DoubleVect3::x, DoubleVect3::y, and DoubleVect3::z.

Referenced by nps_autopilot_run_step().

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void imu_feed_mag ( void  )

Definition at line 53 of file imu_nps.c.

References imu, imu_nps, NpsSensors::mag, ImuNps::mag_available, Imu::mag_unscaled, sensors, NpsSensorMag::value, VECT3_ASSIGN, DoubleVect3::x, DoubleVect3::y, and DoubleVect3::z.

Referenced by nps_autopilot_run_step().

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void imu_nps_event ( void  )

Definition at line 61 of file imu_nps.c.

References Imu::accel, ImuNps::accel_available, get_sys_time_usec(), Imu::gyro, ImuNps::gyro_available, imu, IMU_BOARD_ID, imu_nps, imu_scale_accel(), imu_scale_gyro(), imu_scale_mag(), Imu::mag, and ImuNps::mag_available.

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void imu_nps_init ( void  )

Definition at line 30 of file imu_nps.c.

References ImuNps::accel_available, ImuNps::gyro_available, imu_nps, and ImuNps::mag_available.

Variable Documentation

struct ImuNps imu_nps

Definition at line 28 of file imu_nps.c.

Referenced by imu_feed_gyro_accel(), imu_feed_mag(), imu_nps_event(), and imu_nps_init().