nps_ins.h File Reference

#include "std.h"
#include "nps_fdm.h"

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Macros
#define	INS_FREQUENCY   PERIODIC_FREQUENCY

Functions
void	nps_ins_init (void)
void	nps_ins_fetch_data (struct NpsFdm *fdm_ins)
	Fetch data from FDM and store them into vectornav packet NOTE: some noise is being added, see Vectornav specifications for details about the precision: http://www.vectornav.com/products/vn-200/specifications. More...
uint16_t	nps_ins_fill_buffer (void)

Variables
uint8_t *	ins_buffer

Macro Definition Documentation

#define INS_FREQUENCY   PERIODIC_FREQUENCY

Definition at line 34 of file nps_ins.h.

Referenced by nps_ins_data_loop().

Function Documentation

void nps_ins_fetch_data

(

struct NpsFdm *

fdm_ins

)

Fetch data from FDM and store them into vectornav packet NOTE: some noise is being added, see Vectornav specifications for details about the precision: http://www.vectornav.com/products/vn-200/specifications.

Definition at line 125 of file nps_ins_vectornav.c.

References VectornavData::Accel, LlaCoor_d::alt, VectornavData::AngularRate, NpsFdm::body_accel, NpsFdm::body_ecef_accel, NpsFdm::body_ecef_rotvel, VectornavData::Fix, NpsSensors::gps, VectornavData::InsStatus, LlaCoor_d::lat, VectornavData::LinearAccelBody, NpsSensorGps::lla_pos, LlaCoor_d::lon, NpsFdm::ltp_ecef_vel, NpsFdm::ltp_to_body_eulers, VectornavData::NumSats, DoubleRates::p, DoubleEulers::phi, VectornavData::Position, VectornavData::PosU, DoubleEulers::psi, DoubleRates::q, DoubleRates::r, sensors, DoubleEulers::theta, NpsFdm::time, VectornavData::TimeStartup, VectornavData::Tow, VectornavData::VelBody, VectornavData::Velocity, VectornavData::VelU, vn_data, vn_get_time_of_week(), DoubleVect3::x, NedCoor_d::x, DoubleVect3::y, NedCoor_d::y, VectornavData::YawPitchRoll, VectornavData::YprU, DoubleVect3::z, and NedCoor_d::z.

Referenced by nps_ins_data_loop().

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uint16_t nps_ins_fill_buffer

(

void

)

Definition at line 202 of file nps_ins_vectornav.c.

References VectornavData::Accel, VectornavData::AngularRate, VectornavData::Fix, idx, VectornavData::InsStatus, VectornavData::LinearAccelBody, VectornavData::NumSats, VectornavData::Position, VectornavData::PosU, VectornavData::TimeStartup, VectornavData::Tow, VectornavData::VelBody, VectornavData::Velocity, VectornavData::VelU, vn_buffer, vn_calculate_crc(), vn_data, VN_DATA_START, VN_GROUP_FIELD_1, VN_GROUP_FIELD_2, VN_GROUP_FIELD_3, VN_GROUP_FIELD_4, VN_OUTPUT_GROUP, VN_SYNC, VectornavData::YawPitchRoll, and VectornavData::YprU.

Referenced by nps_ins_data_loop().

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void nps_ins_init

(

void

)

Definition at line 94 of file nps_ins_vectornav.c.

References ins_buffer, and vn_buffer.

Referenced by nps_ins_data_loop().

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Variable Documentation

uint8_t* ins_buffer

Definition at line 48 of file nps_ins_vectornav.c.

Referenced by nps_ins_data_loop(), and nps_ins_init().