ins_arduimu_basic.h File Reference

#include "std.h"
#include "math/pprz_algebra_float.h"

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Functions
void	ArduIMU_init (void)
void	ArduIMU_periodic (void)
void	ArduIMU_periodicGPS (void)
void	ArduIMU_event (void)

Variables
struct FloatEulers	arduimu_eulers
	ArduIMU simulation. More...
struct FloatRates	arduimu_rates
struct FloatVect3	arduimu_accel
float	ins_roll_neutral
float	ins_pitch_neutral
bool	arduimu_calibrate_neutrals

Function Documentation

void ArduIMU_event

(

void

)

Definition at line 41 of file ins_arduimu_basic.c.

References ACCEL_FLOAT_OF_BFP, ANGLE_FLOAT_OF_BFP, ardu_gps_trans, ardu_ins_trans, arduimu_accel, arduimu_eulers, arduimu_rates, i2c_transaction::buf, DefaultChannel, DefaultDevice, I2CTransDone, I2CTransFailed, I2CTransSuccess, ins_pitch_neutral, ins_roll_neutral, FloatRates::p, FloatEulers::phi, FloatEulers::psi, FloatRates::q, FloatRates::r, RATE_FLOAT_OF_BFP, recievedData, stateSetAccelNed_f(), stateSetBodyRates_f(), stateSetNedToBodyEulers_f(), i2c_transaction::status, FloatEulers::theta, FloatVect3::x, NedCoor_f::x, FloatVect3::y, NedCoor_f::y, FloatVect3::z, and NedCoor_f::z.

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void ArduIMU_init

(

void

)

Definition at line 25 of file ins_arduimu.c.

References ardu_gps_trans, ardu_ins_trans, arduimu_accel, arduimu_calibrate_neutrals, arduimu_eulers, arduimu_rates, i2c_transaction::buf, FLOAT_EULERS_ZERO, FLOAT_RATES_ZERO, FLOAT_VECT3_ZERO, gps_daten_abgespeichert, gps_daten_versendet_msg1, gps_daten_versendet_msg2, high_accel_done, high_accel_flag, I2CTransDone, imu_daten_angefordert, ins_pitch_neutral, INS_PITCH_NEUTRAL_DEFAULT, ins_roll_neutral, INS_ROLL_NEUTRAL_DEFAULT, messageNr, i2c_transaction::status, throttle_slew, and V_CTL_THROTTLE_SLEW.

void ArduIMU_periodic

(

void

)

Definition at line 26 of file ins_arduimu.c.

References ardu_ins_trans, ARDUIMU_I2C_DEV, ArduIMU_SLAVE_ADDR, i2c_receive(), I2CTransDone, imu_daten_angefordert, IMU_Daten_verarbeiten(), ins_pitch_neutral, ins_roll_neutral, NB_DATA, sim_p, sim_phi, sim_q, sim_r, sim_theta, stateSetBodyRates_f(), stateSetNedToBodyEulers_f(), i2c_transaction::status, and TRUE.

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void ArduIMU_periodicGPS

(

void

)

Definition at line 36 of file ins_arduimu.c.

References LlaCoor_i::alt, ardu_gps_trans, arduimu_calibrate_neutrals, ARDUIMU_I2C_DEV, ArduIMU_SLAVE_ADDR, i2c_transaction::buf, GpsState::course, FALSE, FillBufWith32bit, GpsState::fix, gps, GPS_Data, gps_daten_abgespeichert, gps_daten_versendet_msg1, gps_daten_versendet_msg2, gps_ubx, GpsState::gspeed, high_accel_done, high_accel_flag, HIGH_ACCEL_HIGH_THRUST, HIGH_ACCEL_HIGH_THRUST_RESUME, HIGH_ACCEL_LOW_SPEED, GpsState::hmsl, i2c_transmit(), I2CTransDone, imu_daten_angefordert, IMU_Daten_verarbeiten(), LlaCoor_i::lat, GpsState::lla_pos, LlaCoor_i::lon, messageNr, GpsState::ned_vel, GpsState::num_sv, GpsState::speed_3d, stateGetHorizontalSpeedNorm_f(), i2c_transaction::status, GpsUbx::status_flags, GpsState::tow, TRUE, and NedCoor_i::z.

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Variable Documentation

struct FloatVect3 arduimu_accel

Definition at line 14 of file ins_arduimu_basic.c.

Referenced by ArduIMU_event(), and ArduIMU_init().

bool arduimu_calibrate_neutrals

Definition at line 18 of file ins_arduimu_basic.c.

Referenced by ArduIMU_init(), and ArduIMU_periodicGPS().

struct FloatEulers arduimu_eulers

ArduIMU simulation.

Sim provides attitude and rates.

Definition at line 12 of file ins_arduimu_basic.c.

Referenced by ArduIMU_event(), and ArduIMU_init().

struct FloatRates arduimu_rates

Definition at line 13 of file ins_arduimu_basic.c.

Referenced by ArduIMU_event(), and ArduIMU_init().

float ins_pitch_neutral

Definition at line 15 of file ins_arduimu.c.

float ins_roll_neutral

Definition at line 14 of file ins_arduimu.c.