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ahrs_int_cmpl_euler.h
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21 
30 #ifndef AHRS_INT_CMPL_EULER_H
31 #define AHRS_INT_CMPL_EULER_H
32 
33 #include "subsystems/ahrs.h"
34 #include "std.h"
35 #include "math/pprz_algebra_int.h"
37 
41 };
42 
52  float mag_offset;
53 
55 
57  bool is_aligned;
58 };
59 
60 extern struct AhrsIntCmplEuler ahrs_ice;
61 
62 extern void ahrs_ice_init(void);
64 extern void ahrs_ice_set_body_to_imu_quat(struct FloatQuat *q_b2i);
65 extern bool ahrs_ice_align(struct Int32Rates *lp_gyro, struct Int32Vect3 *lp_accel,
66  struct Int32Vect3 *lp_mag);
67 extern void ahrs_ice_propagate(struct Int32Rates *gyro);
68 extern void ahrs_ice_update_accel(struct Int32Vect3 *accel);
69 extern void ahrs_ice_update_mag(struct Int32Vect3 *mag);
70 
71 #endif /* AHRS_INT_CMPL_EULER_H */
AhrsIntCmplEuler
Definition: ahrs_int_cmpl_euler.h:43
OrientationReps
Definition: pprz_orientation_conversion.h:79
ahrs_ice_set_body_to_imu_quat
void ahrs_ice_set_body_to_imu_quat(struct FloatQuat *q_b2i)
Definition: ahrs_int_cmpl_euler.c:282
ahrs_ice
struct AhrsIntCmplEuler ahrs_ice
Definition: ahrs_int_cmpl_euler.c:46
Int32Rates
angular rates
Definition: pprz_algebra_int.h:179
ahrs_ice_set_body_to_imu
void ahrs_ice_set_body_to_imu(struct OrientationReps *body_to_imu)
Definition: ahrs_int_cmpl_euler.c:277
ahrs_ice_update_accel
void ahrs_ice_update_accel(struct Int32Vect3 *accel)
Definition: ahrs_int_cmpl_euler.c:202
AhrsIntCmplEuler::hi_res_euler
struct Int32Eulers hi_res_euler
Definition: ahrs_int_cmpl_euler.h:46
pprz_algebra_int.h
Paparazzi fixed point algebra.
AhrsIntCmplEuler::imu_rate
struct Int32Rates imu_rate
Definition: ahrs_int_cmpl_euler.h:45
AHRS_ICE_UNINIT
@ AHRS_ICE_UNINIT
Definition: ahrs_int_cmpl_euler.h:39
FloatQuat
Roation quaternion.
Definition: pprz_algebra_float.h:63
std.h
AhrsICEStatus
AhrsICEStatus
Definition: ahrs_int_cmpl_euler.h:38
AHRS_ICE_RUNNING
@ AHRS_ICE_RUNNING
Definition: ahrs_int_cmpl_euler.h:40
AhrsIntCmplEuler::status
enum AhrsICEStatus status
Definition: ahrs_int_cmpl_euler.h:56
AhrsIntCmplEuler::mag_offset
float mag_offset
Definition: ahrs_int_cmpl_euler.h:52
AhrsIntCmplEuler::is_aligned
bool is_aligned
Definition: ahrs_int_cmpl_euler.h:57
Int32Vect3
Definition: pprz_algebra_int.h:88
Int32Eulers
euler angles
Definition: pprz_algebra_int.h:146
ahrs.h
ahrs_ice_init
void ahrs_ice_init(void)
Definition: ahrs_int_cmpl_euler.c:63
AhrsIntCmplEuler::gyro_bias
struct Int32Rates gyro_bias
Definition: ahrs_int_cmpl_euler.h:44
ahrs_ice_align
bool ahrs_ice_align(struct Int32Rates *lp_gyro, struct Int32Vect3 *lp_accel, struct Int32Vect3 *lp_mag)
Definition: ahrs_int_cmpl_euler.c:78
ahrs_ice_propagate
void ahrs_ice_propagate(struct Int32Rates *gyro)
Definition: ahrs_int_cmpl_euler.c:154
int32_t
signed long int32_t
Definition: types.h:19
pprz_orientation_conversion.h
AhrsIntCmplEuler::reinj_1
int32_t reinj_1
Definition: ahrs_int_cmpl_euler.h:51
AhrsIntCmplEuler::measurement
struct Int32Eulers measurement
Definition: ahrs_int_cmpl_euler.h:49
body_to_imu
static struct OrientationReps body_to_imu
Definition: ins_alt_float.c:93
AhrsIntCmplEuler::measure
struct Int32Eulers measure
Definition: ahrs_int_cmpl_euler.h:47
ahrs_ice_update_mag
void ahrs_ice_update_mag(struct Int32Vect3 *mag)
Definition: ahrs_int_cmpl_euler.c:224
AhrsIntCmplEuler::ltp_to_imu_euler
struct Int32Eulers ltp_to_imu_euler
Definition: ahrs_int_cmpl_euler.h:50
AhrsIntCmplEuler::residual
struct Int32Eulers residual
Definition: ahrs_int_cmpl_euler.h:48
AhrsIntCmplEuler::body_to_imu
struct OrientationReps body_to_imu
Definition: ahrs_int_cmpl_euler.h:54