ahrs_vectornav.h File Reference

Vectornav VN-200 as AHRS. More...

#include "peripherals/vn200_serial.h"
#include "mcu_periph/sys_time.h"
#include "math/pprz_algebra.h"
#include "math/pprz_geodetic_float.h"
#include "math/pprz_algebra_float.h"
#include "math/pprz_geodetic_int.h"
#include "math/pprz_orientation_conversion.h"

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Data Structures
struct	AhrsVectornav

Functions
void	ahrs_vectornav_init (void)
	Initialize Vectornav struct. More...
void	ahrs_vectornav_event (void)
	Event handling for Vectornav. More...
void	ahrs_vectornav_propagate (void)
	Read received data. More...

Variables
struct AhrsVectornav	ahrs_vn

Detailed Description

Vectornav VN-200 as AHRS.

Author

Michal Podhradsky micha.nosp@m.l.po.nosp@m.dhrad.nosp@m.sky@.nosp@m.aggie.nosp@m.mail.nosp@m..usu..nosp@m.edu

Definition in file ahrs_vectornav.h.

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Data Structure Documentation

struct AhrsVectornav

Definition at line 47 of file ahrs_vectornav.h.

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Data Fields
struct Int32Vect3	accel_i
struct OrientationReps	body_to_imu	body_to_imu rotation
struct Int32Rates	gyro_i
uint16_t	vn_chksm	aux variable for checksum
struct VNData	vn_data	Data struct.
float	vn_freq	data frequency
struct VNPacket	vn_packet	Packet struct.
enum VNStatus	vn_status	VN status.

Function Documentation

void ahrs_vectornav_event

(

void

)

Event handling for Vectornav.

Definition at line 66 of file ahrs_vectornav.c.

References VNData::accel, AhrsVectornav::accel_i, ACCELS_BFP_OF_REAL, ahrs_vectornav_is_enabled(), ahrs_vectornav_propagate(), ahrs_vn, get_sys_time_usec(), VNData::gyro, AhrsVectornav::gyro_i, IMU_VECTORNAV_ID, VNPacket::msg_available, RATES_BFP_OF_REAL, vn200_event(), vn200_read_message(), AhrsVectornav::vn_data, and AhrsVectornav::vn_packet.

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void ahrs_vectornav_init

(

void

)

Initialize Vectornav struct.

Definition at line 94 of file ahrs_vectornav.c.

References AhrsVectornav::accel_i, ahrs_vn, VNPacket::chksm_error, DefaultPeriodic, VNPacket::framing_error, VNPacket::hdr_error, INT32_VECT3_ZERO, VNPacket::msg_available, VNPacket::msg_idx, VNPacket::noise_error, VNPacket::overrun_error, register_periodic_telemetry(), send_vn_info(), VNPacket::status, AhrsVectornav::vn_data, AhrsVectornav::vn_freq, AhrsVectornav::vn_packet, AhrsVectornav::vn_status, VNMsgSync, and VNNotTracking.

Referenced by ahrs_vectornav_register().

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void ahrs_vectornav_propagate

(

void

)

Read received data.

Definition at line 123 of file ahrs_vectornav.c.

References ahrs_vn, VNData::attitude, AhrsVectornav::body_to_imu, float_quat_of_eulers(), float_rmat_ratemult(), VNData::gyro, orientationGetRMat_f(), stateSetBodyRates_f(), stateSetNedToBodyQuat_f(), and AhrsVectornav::vn_data.

Referenced by ahrs_vectornav_event().

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Variable Documentation

struct AhrsVectornav ahrs_vn

Definition at line 31 of file ahrs_vectornav.c.

Referenced by ahrs_vectornav_event(), ahrs_vectornav_init(), ahrs_vectornav_propagate(), send_euler(), and send_vn_info().