Angular rate representations

Collaboration diagram for Angular rate representations:

Macros
#define	RATE_I   0
#define	RATE_F   1

Functions
void	stateCalcBodyRates_i (void)
void	stateCalcBodyRates_f (void)
static bool	stateIsRateValid (void)
	Test if rates are valid. More...
static void	stateSetBodyRates_i (struct Int32Rates *body_rate)
	Set vehicle body angular rate (int). More...
static void	stateSetBodyRates_f (struct FloatRates *body_rate)
	Set vehicle body angular rate (float). More...
static struct Int32Rates *	stateGetBodyRates_i (void)
	Get vehicle body angular rate (int). More...
static struct FloatRates *	stateGetBodyRates_f (void)
	Get vehicle body angular rate (float). More...

Variables
uint8_t	State::rate_status
	Holds the status bits for all angular rate representations. More...
struct Int32Rates	State::body_rates_i
	Angular rates in body frame. More...
struct FloatRates	State::body_rates_f
	Angular rates in body frame. More...

Detailed Description

Macro Definition Documentation

RATE_F

#define RATE_F   1

Definition at line 113 of file state.h.

RATE_I

#define RATE_I   0

Definition at line 112 of file state.h.

Function Documentation

stateCalcBodyRates_f()

void stateCalcBodyRates_f

(

void

)

Definition at line 1222 of file state.c.

References State::body_rates_f, State::body_rates_i, RATE_F, RATE_I, State::rate_status, RATES_FLOAT_OF_BFP, and state.

Referenced by stateGetBodyRates_f().

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stateCalcBodyRates_i()

void stateCalcBodyRates_i

(

void

)

Definition at line 1207 of file state.c.

References State::body_rates_f, State::body_rates_i, RATE_F, RATE_I, State::rate_status, RATES_BFP_OF_REAL, and state.

Referenced by stateGetBodyRates_i().

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stateGetBodyRates_f()

static struct FloatRates* stateGetBodyRates_f ( void  )

inlinestatic

Get vehicle body angular rate (float).

Definition at line 1200 of file state.h.

References State::body_rates_f, RATE_F, State::rate_status, state, and stateCalcBodyRates_f().

Referenced by CN_potential_heading(), CN_potential_velocity(), decawave_anchorless_communication_periodic(), file_logger_write_row(), h_ctl_pitch_loop(), h_ctl_roll_loop(), indi_init_filters(), lms_estimation(), mavlink_send_attitude(), mavlink_send_attitude_quaternion(), mavlink_send_highres_imu(), mf_daq_send_state(), opticflow_pmw3901_publish(), parse_mf_daq_msg(), pose_periodic(), process_data(), range_msg_callback(), rover_guidance_run(), rover_holo_guidance_run(), send_att(), send_tune_roll(), stabilization_attitude_run(), stabilization_indi_rate_run(), stabilization_rate_run(), and wind_estimator_periodic().

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stateGetBodyRates_i()

static struct Int32Rates* stateGetBodyRates_i ( void  )

inlinestatic

Get vehicle body angular rate (int).

Definition at line 1191 of file state.h.

References State::body_rates_i, RATE_I, State::rate_status, state, and stateCalcBodyRates_i().

Referenced by ctrl_module_run(), logger_control_effectiveness_periodic(), send_att(), and stabilization_attitude_run().

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stateIsRateValid()

static bool stateIsRateValid ( void  )

inlinestatic

Test if rates are valid.

Definition at line 1165 of file state.h.

References State::rate_status, and state.

stateSetBodyRates_f()

static void stateSetBodyRates_f ( struct FloatRates *  body_rate )

inlinestatic

Set vehicle body angular rate (float).

Definition at line 1181 of file state.h.

References State::body_rates_f, RATE_F, State::rate_status, RATES_COPY, and state.

Referenced by ahrs_vectornav_propagate(), ArduIMU_event(), ArduIMU_periodic(), compute_body_orientation_and_rates(), gx3_packet_read_message(), ins_ekf2_publish_attitude(), ins_float_invariant_propagate(), ins_vectornav_propagate(), parse_ins_msg(), set_body_orientation_and_rates(), set_body_state_from_quat(), set_state_from_ins(), sim_overwrite_ahrs(), update_ahrs_from_sim(), update_state_interface(), and vn100_event_task().

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stateSetBodyRates_i()

static void stateSetBodyRates_i ( struct Int32Rates *  body_rate )

inlinestatic

Set vehicle body angular rate (int).

Definition at line 1173 of file state.h.

References State::body_rates_i, RATE_I, State::rate_status, RATES_COPY, and state.

Referenced by gyro_cb(), set_body_state_from_euler(), and set_body_state_from_quat().

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Variable Documentation

body_rates_f

struct FloatRates State::body_rates_f

Angular rates in body frame.

Units: rad/s

Definition at line 390 of file state.h.

Referenced by stateCalcBodyRates_f(), stateCalcBodyRates_i(), stateGetBodyRates_f(), and stateSetBodyRates_f().

body_rates_i

struct Int32Rates State::body_rates_i

Angular rates in body frame.

Units: rad/s in BFP with INT32_RATE_FRAC

Definition at line 384 of file state.h.

Referenced by stateCalcBodyRates_f(), stateCalcBodyRates_i(), stateGetBodyRates_i(), and stateSetBodyRates_i().

rate_status

uint8_t State::rate_status

Holds the status bits for all angular rate representations.

When the corresponding bit is one the representation is already computed.

Definition at line 378 of file state.h.

Referenced by stateCalcBodyRates_f(), stateCalcBodyRates_i(), stateGetBodyRates_f(), stateGetBodyRates_i(), stateInit(), stateIsRateValid(), stateSetBodyRates_f(), and stateSetBodyRates_i().