Paparazzi UAS  v5.18.0_stable
Paparazzi is a free software Unmanned Aircraft System.
ahrs_magnetic_field_model.h
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1 #ifndef AHRS_MAGNETIC_FIELD_MODEL_H
2 #define AHRS_MAGNETIC_FIELD_MODEL_H
3 
4 #include "generated/airframe.h"
5 
6 // for complete INS filters, magnetic field can be defined with INS_H_[XYZ]
7 #if defined(INS_H_X) && defined(INS_H_Y) && defined(INS_H_Z)
8 #if defined(AHRS_H_X) || defined(AHRS_H_Y) || defined(AHRS_H_Z)
9 #warning Magnetic field model both defined by AHRS_H_[XYZ] and INS_H_[XYZ]
10 #else
11 #define AHRS_H_X INS_H_X
12 #define AHRS_H_Y INS_H_Y
13 #define AHRS_H_Z INS_H_Z
14 #endif
15 #endif
16 
17 #if !USE_MAGNETOMETER && !defined(AHRS_H_X) && !defined(AHRS_H_Y)
18 #define AHRS_H_X 1
19 #define AHRS_H_Y 0
20 #define AHRS_H_Z 0
21 #endif
22 
23 #endif