ahrs_int_utils.h File Reference

#include "math/pprz_algebra_int.h"
#include "subsystems/ahrs/ahrs_magnetic_field_model.h"
#include "subsystems/ahrs/ahrs_float_utils.h"

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Functions
static void	ahrs_int_get_euler_from_accel_mag (struct Int32Eulers *e, struct Int32Vect3 *accel, struct Int32Vect3 *mag)
static void	ahrs_int_get_quat_from_accel (struct Int32Quat *q, struct Int32Vect3 *accel)
static void	ahrs_int_get_quat_from_accel_mag (struct Int32Quat *q, struct Int32Vect3 *accel, struct Int32Vect3 *mag)

Detailed Description

Utility functions for fixed point AHRS implementations.

Definition in file ahrs_int_utils.h.

Function Documentation

ahrs_int_get_euler_from_accel_mag()

static void ahrs_int_get_euler_from_accel_mag ( struct Int32Eulers *  e, struct Int32Vect3 *  accel, struct Int32Vect3 *  mag  )

inlinestatic

Definition at line 40 of file ahrs_int_utils.h.

References ANGLE_BFP_OF_REAL, INT32_ANGLE_NORMALIZE, INT32_TRIG_FRAC, INT_MULT_RSHIFT, Int32Eulers::phi, PPRZ_ITRIG_COS, PPRZ_ITRIG_SIN, Int32Eulers::psi, Int32Eulers::theta, Int32Vect3::x, Int32Vect3::y, and Int32Vect3::z.

ahrs_int_get_quat_from_accel()

static void ahrs_int_get_quat_from_accel ( struct Int32Quat *  q, struct Int32Vect3 *  accel  )

inlinestatic

Definition at line 80 of file ahrs_int_utils.h.

References ACCELS_FLOAT_OF_BFP, ahrs_float_get_quat_from_accel(), and QUAT_BFP_OF_REAL.

Referenced by ahrs_icq_align().

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ahrs_int_get_quat_from_accel_mag()

static void ahrs_int_get_quat_from_accel_mag ( struct Int32Quat *  q, struct Int32Vect3 *  accel, struct Int32Vect3 *  mag  )

inlinestatic

Definition at line 89 of file ahrs_int_utils.h.

References ACCELS_FLOAT_OF_BFP, ahrs_float_get_quat_from_accel_mag(), MAGS_FLOAT_OF_BFP, and QUAT_BFP_OF_REAL.

Referenced by ahrs_icq_align().

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