Paparazzi UAS
v5.15_devel-230-gc96ce27
Paparazzi is a free software Unmanned Aircraft System.
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#include <stdbool.h>
#include "state.h"
#include "subsystems/gps.h"
#include "subsystems/ahrs.h"
#include "generated/airframe.h"
#include "ins_module.h"
#include "imu_chimu.h"
#include "led.h"
Go to the source code of this file.
Functions | |
static bool | ahrs_chimu_enable_output (bool enable) |
void | ahrs_chimu_register (void) |
void | ahrs_chimu_init (void) |
void | parse_ins_msg (void) |
Variables | |
CHIMU_PARSER_DATA | CHIMU_DATA |
INS_FORMAT | ins_roll_neutral |
INS_FORMAT | ins_pitch_neutral |
struct AhrsChimu | ahrs_chimu |
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static |
Definition at line 35 of file ahrs_chimu_uart.c.
References ahrs_chimu, and AhrsChimu::is_enabled.
Referenced by ahrs_chimu_register().
void ahrs_chimu_init | ( | void | ) |
Definition at line 47 of file ahrs_chimu_uart.c.
References ahrs_chimu, CHIMU_BROADCAST, CHIMU_Checksum(), CHIMU_Init(), CHIMU_STX, ins_pitch_neutral, INS_PITCH_NEUTRAL_DEFAULT, ins_roll_neutral, INS_ROLL_NEUTRAL_DEFAULT, InsSend, InsUartSend1, AhrsChimu::is_aligned, AhrsChimu::is_enabled, MSG00_PING, MSG09_ESTIMATOR, MSG10_UARTSETTINGS, and new_ins_attitude.
Referenced by ahrs_chimu_register().
void ahrs_chimu_register | ( | void | ) |
Definition at line 41 of file ahrs_chimu_uart.c.
References ahrs_chimu_enable_output(), ahrs_chimu_init(), and ahrs_register_impl().
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inline |
Definition at line 81 of file ahrs_chimu_uart.c.
References ahrs_chimu, AHRS_COMP_ID_CHIMU, CHIMU_Msg_3_IMU_Attitude, CHIMU_Parse(), DefaultChannel, DefaultDevice, dev, CHIMU_attitude_data::euler, InsLinkDevice, AhrsChimu::is_aligned, AhrsChimu::is_enabled, LED_TOGGLE, CHIMU_PARSER_DATA::m_attitude, CHIMU_PARSER_DATA::m_attrates, CHIMU_PARSER_DATA::m_MsgID, CHIMU_PARSER_DATA::m_sensor, new_ins_attitude, CHIMU_Euler::phi, CHIMU_Euler::psi, CHIMU_sensor_data::rate, stateSetBodyRates_f(), stateSetNedToBodyEulers_f(), and CHIMU_Euler::theta.
Referenced by ins_event_check_and_handle().
struct AhrsChimu ahrs_chimu |
Definition at line 33 of file ahrs_chimu_uart.c.
Referenced by ahrs_chimu_enable_output(), ahrs_chimu_init(), and parse_ins_msg().
CHIMU_PARSER_DATA CHIMU_DATA |
Definition at line 28 of file ahrs_chimu_uart.c.
INS_FORMAT ins_pitch_neutral |
Definition at line 31 of file ahrs_chimu_uart.c.
Referenced by ahrs_chimu_init().
INS_FORMAT ins_roll_neutral |
Definition at line 30 of file ahrs_chimu_uart.c.
Referenced by ahrs_chimu_init().