nps_sensor_gyro.h File Reference

#include "math/pprz_algebra.h"
#include "math/pprz_algebra_double.h"
#include "math/pprz_algebra_float.h"
#include "std.h"

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Data Structures
struct	NpsSensorGyro

Functions
void	nps_sensor_gyro_init (struct NpsSensorGyro *gyro, double time)
void	nps_sensor_gyro_run_step (struct NpsSensorGyro *gyro, double time, struct DoubleRMat *body_to_imu)

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Data Structure Documentation

struct NpsSensorGyro

Definition at line 9 of file nps_sensor_gyro.h.

Collaboration diagram for NpsSensorGyro:

Data Fields
struct DoubleVect3	bias_initial
struct DoubleVect3	bias_random_walk_std_dev
struct DoubleVect3	bias_random_walk_value
bool	data_available
int	max
int	min
struct DoubleVect3	neutral
double	next_update
struct DoubleVect3	noise_std_dev
struct DoubleMat33	sensitivity
struct DoubleVect3	value

Function Documentation

void nps_sensor_gyro_init	(	struct NpsSensorGyro *	gyro,
		double	time
	)

Definition at line 9 of file nps_sensor_gyro.c.

References NpsSensorGyro::bias_initial, NpsSensorGyro::bias_random_walk_std_dev, NpsSensorGyro::bias_random_walk_value, NpsSensorGyro::data_available, FALSE, FLOAT_MAT33_DIAG, FLOAT_VECT3_ZERO, NpsSensorGyro::max, NpsSensorGyro::min, NpsSensorGyro::neutral, NpsSensorGyro::next_update, NpsSensorGyro::noise_std_dev, NpsSensorGyro::sensitivity, NpsSensorGyro::value, and VECT3_ASSIGN.

Referenced by nps_sensors_init().

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void nps_sensor_gyro_run_step	(	struct NpsSensorGyro *	gyro,
		double	time,
		struct DoubleRMat *	body_to_imu
	)

Definition at line 31 of file nps_sensor_gyro.c.

References NpsSensorGyro::bias_initial, NpsSensorGyro::bias_random_walk_std_dev, NpsSensorGyro::bias_random_walk_value, NpsFdm::body_inertial_rotvel, NpsSensorGyro::data_available, double_vect3_add_gaussian_noise(), DOUBLE_VECT3_ROUND, double_vect3_update_random_walk(), fdm, DoubleMat33::m, MAT33_VECT3_MUL, NpsSensorGyro::max, NpsSensorGyro::min, NpsSensorGyro::neutral, NpsSensorGyro::next_update, NpsSensorGyro::noise_std_dev, NpsSensorGyro::sensitivity, TRUE, NpsSensorGyro::value, VECT3_ADD, VECT3_BOUND_CUBE, VECT3_COPY, and VECT3_EW_MUL.

Referenced by nps_sensors_run_step().

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