Paparazzi UAS  v5.12_stable-4-g9b43e9b
Paparazzi is a free software Unmanned Aircraft System.
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xsens.h
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1 /*
2  * Copyright (C) 2010 ENAC
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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22 
27 #ifndef XSENS_H
28 #define XSENS_H
29 
30 #include "std.h"
33 #include "math/pprz_geodetic_int.h"
34 
35 #if USE_GPS_XSENS
36 #include "subsystems/gps.h"
37 #endif
38 
39 struct XsensTime {
47 };
48 
49 struct Xsens {
50  struct XsensTime time;
52 
53  struct FloatRates gyro;
54  struct FloatVect3 accel;
55  struct FloatVect3 mag;
56 
57  struct LlaCoor_f lla_f;
58  struct FloatVect3 vel;
59 
60  struct FloatQuat quat;
62 
63  volatile bool msg_received;
64  volatile bool new_attitude;
65 
69 
70 #if USE_GPS_XSENS
71  struct GpsState gps;
72  bool gps_available;
73 #endif
74 };
75 
76 extern struct Xsens xsens;
77 
78 extern void xsens_init(void);
79 extern void xsens_periodic(void);
80 extern void parse_xsens_msg(void);
81 
82 #endif /* XSENS_H */
unsigned short uint16_t
Definition: types.h:16
int8_t month
Definition: xsens.h:45
bool accel_available
Definition: xsens.h:67
int8_t min
Definition: xsens.h:41
struct XsensTime time
Definition: xsens.h:50
struct FloatVect3 vel
NED velocity in m/s.
Definition: xsens.h:58
struct FloatVect3 accel
Definition: xsens.h:54
euler angles
Roation quaternion.
int8_t hour
Definition: xsens.h:40
Paparazzi floating point math for geodetic calculations.
vector in Latitude, Longitude and Altitude
int8_t day
Definition: xsens.h:46
void parse_xsens_msg(void)
Definition: xsens.c:185
Paparazzi floating point algebra.
data structure for GPS information
Definition: gps.h:81
int8_t sec
Definition: xsens.h:42
Device independent GPS code (interface)
int16_t year
Definition: xsens.h:44
uint16_t time_stamp
Definition: xsens.h:51
bool gps_available
Definition: gps_sim_hitl.c:36
signed short int16_t
Definition: types.h:17
bool mag_available
Definition: xsens.h:68
Paparazzi fixed point math for geodetic calculations.
struct Xsens xsens
Definition: xsens.c:110
signed long int32_t
Definition: types.h:19
void xsens_periodic(void)
Definition: xsens.c:125
struct FloatVect3 mag
Definition: xsens.h:55
int32_t nanosec
Definition: xsens.h:43
volatile bool msg_received
Definition: xsens.h:63
Definition: xsens.h:49
struct FloatEulers euler
Definition: xsens.h:61
struct LlaCoor_f lla_f
Definition: xsens.h:57
struct FloatRates gyro
Definition: xsens.h:53
signed char int8_t
Definition: types.h:15
void xsens_init(void)
Definition: xsens.c:114
struct FloatQuat quat
Definition: xsens.h:60
bool gyro_available
Definition: xsens.h:66
struct GpsState gps
global GPS state
Definition: gps.c:75
angular rates
volatile bool new_attitude
Definition: xsens.h:64