ahrs_aligner.h File Reference

#include "std.h"
#include "math/pprz_algebra_int.h"

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Data Structures
struct	AhrsAligner

Macros
#define	AHRS_ALIGNER_UNINIT   0
#define	AHRS_ALIGNER_RUNNING   1
#define	AHRS_ALIGNER_LOCKED   2

Functions
void	ahrs_aligner_init (void)
void	ahrs_aligner_run (void)

Variables
struct AhrsAligner	ahrs_aligner

Detailed Description

Interface to align the AHRS via low-passed measurements at startup.

Definition in file ahrs_aligner.h.

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Data Structure Documentation

AhrsAligner

struct AhrsAligner

Definition at line 39 of file ahrs_aligner.h.

Collaboration diagram for AhrsAligner:

Data Fields
int32_t	low_noise_cnt
struct Int32Vect3	lp_accel
struct Int32Rates	lp_gyro
struct Int32Vect3	lp_mag
int32_t	noise
uint8_t	status

Macro Definition Documentation

AHRS_ALIGNER_LOCKED

#define AHRS_ALIGNER_LOCKED   2

Definition at line 37 of file ahrs_aligner.h.

AHRS_ALIGNER_RUNNING

#define AHRS_ALIGNER_RUNNING   1

Definition at line 36 of file ahrs_aligner.h.

AHRS_ALIGNER_UNINIT

#define AHRS_ALIGNER_UNINIT   0

Definition at line 35 of file ahrs_aligner.h.

Function Documentation

ahrs_aligner_init()

void ahrs_aligner_init

(

void

)

Definition at line 81 of file ahrs_aligner.c.

References accel_sum, ahrs_aligner, AHRS_ALIGNER_IMU_ID, AHRS_ALIGNER_RUNNING, DefaultPeriodic, gyro_cb(), gyro_ev, gyro_sum, INT_RATES_ZERO, INT_VECT3_ZERO, AhrsAligner::low_noise_cnt, mag_sum, AhrsAligner::noise, register_periodic_telemetry(), samples_idx, send_aligner(), and AhrsAligner::status.

Referenced by ahrs_init(), ins_float_invariant_wrapper_init(), and ins_mekf_wind_wrapper_init().

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ahrs_aligner_run()

void ahrs_aligner_run

(

void

)

Definition at line 108 of file ahrs_aligner.c.

References ABI_BROADCAST, Imu::accel, accel_sum, ahrs_aligner, AHRS_ALIGNER_LOCKED, AHRS_ALIGNER_SAMPLES_NB, get_sys_time_usec(), Imu::gyro, gyro_sum, imu, INT_RATES_ZERO, INT_VECT3_ZERO, LED_ON, LED_TOGGLE, AhrsAligner::low_noise_cnt, LOW_NOISE_THRESHOLD, LOW_NOISE_TIME, AhrsAligner::lp_accel, AhrsAligner::lp_gyro, AhrsAligner::lp_mag, Imu::mag, mag_sum, AhrsAligner::noise, RATES_ADD, RATES_SDIV, ref_sensor_samples, samples_idx, AhrsAligner::status, VECT3_ADD, VECT3_SDIV, and Int32Vect3::z.

Referenced by gyro_cb().

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Variable Documentation

ahrs_aligner

struct AhrsAligner ahrs_aligner

Definition at line 37 of file ahrs_aligner.c.

Referenced by ahrs_aligner_init(), ahrs_aligner_run(), gyro_cb(), and send_aligner().