ahrs_sim.c File Reference

Dummy plug to set the AHRS from the simple OCaml simulator. More...

#include "subsystems/ahrs/ahrs_sim.h"
#include "math/pprz_algebra_float.h"
#include "generated/airframe.h"
#include "state.h"

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Macros
#define	INS_ROLL_NEUTRAL_DEFAULT   0
#define	INS_PITCH_NEUTRAL_DEFAULT   0

Functions
void	update_ahrs_from_sim (void)
void	ahrs_sim_register (void)

Variables
float	sim_phi
	in radians More...
float	sim_theta
	in radians More...
float	sim_psi
	in radians More...
float	sim_p
	in radians/s More...
float	sim_q
	in radians/s More...
float	sim_r
	in radians/s More...
float	ins_roll_neutral = INS_ROLL_NEUTRAL_DEFAULT
float	ins_pitch_neutral = INS_PITCH_NEUTRAL_DEFAULT

Detailed Description

Dummy plug to set the AHRS from the simple OCaml simulator.

Definition in file ahrs_sim.c.

Macro Definition Documentation

#define INS_PITCH_NEUTRAL_DEFAULT   0

Definition at line 46 of file ahrs_sim.c.

Referenced by ahrs_chimu_init(), ArduIMU_init(), ins_xsens700_init(), and ins_xsens_init().

#define INS_ROLL_NEUTRAL_DEFAULT   0

Definition at line 43 of file ahrs_sim.c.

Referenced by ahrs_chimu_init(), ArduIMU_init(), ins_xsens700_init(), and ins_xsens_init().

Function Documentation

void ahrs_sim_register

(

void

)

Definition at line 64 of file ahrs_sim.c.

References ahrs_register_impl().

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void update_ahrs_from_sim

(

void

)

Definition at line 52 of file ahrs_sim.c.

References sim_p, sim_phi, sim_psi, sim_q, sim_r, sim_theta, stateSetBodyRates_f(), and stateSetNedToBodyEulers_f().

Referenced by sensors_task().

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Variable Documentation

float ins_pitch_neutral = INS_PITCH_NEUTRAL_DEFAULT

Definition at line 49 of file ahrs_sim.c.

float ins_roll_neutral = INS_ROLL_NEUTRAL_DEFAULT

Definition at line 48 of file ahrs_sim.c.

float sim_p

in radians/s

Definition at line 15 of file sim_ahrs.c.

Referenced by provide_rates(), and update_ahrs_from_sim().

float sim_phi

in radians

Definition at line 12 of file sim_ahrs.c.

Referenced by provide_attitude(), and update_ahrs_from_sim().

float sim_psi

in radians

Definition at line 14 of file sim_ahrs.c.

Referenced by provide_attitude(), and update_ahrs_from_sim().

float sim_q

in radians/s

Definition at line 16 of file sim_ahrs.c.

Referenced by provide_rates(), and update_ahrs_from_sim().

float sim_r

in radians/s

Definition at line 17 of file sim_ahrs.c.

Referenced by provide_rates(), and update_ahrs_from_sim().

float sim_theta

in radians

Definition at line 13 of file sim_ahrs.c.

Referenced by provide_attitude(), and update_ahrs_from_sim().