#include "subsystems/imu.h"
#include "generated/airframe.h"

Include dependency graph for imu_nps.h:

This graph shows which files directly or indirectly include this file:

Data Structures
struct	ImuNps

Macros
#define	IMU_GYRO_P_SENS 4.359
	we just define some defaults for aspirin v1.5 for now More...

#define	IMU_GYRO_P_SENS_NUM 4359

#define	IMU_GYRO_P_SENS_DEN 1000

#define	IMU_GYRO_Q_SENS 4.359

#define	IMU_GYRO_Q_SENS_NUM 4359

#define	IMU_GYRO_Q_SENS_DEN 1000

#define	IMU_GYRO_R_SENS 4.359

#define	IMU_GYRO_R_SENS_NUM 4359

#define	IMU_GYRO_R_SENS_DEN 1000

#define	IMU_ACCEL_X_SENS 37.91
	we just define some defaults for aspirin v1.5 for now More...

#define	IMU_ACCEL_X_SENS_NUM 3791

#define	IMU_ACCEL_X_SENS_DEN 100

#define	IMU_ACCEL_Y_SENS 37.91

#define	IMU_ACCEL_Y_SENS_NUM 3791

#define	IMU_ACCEL_Y_SENS_DEN 100

#define	IMU_ACCEL_Z_SENS 39.24

#define	IMU_ACCEL_Z_SENS_NUM 3924

#define	IMU_ACCEL_Z_SENS_DEN 100

#define	IMU_MAG_X_SENS 3.5

#define	IMU_MAG_X_SENS_NUM 7

#define	IMU_MAG_X_SENS_DEN 2

#define	IMU_MAG_Y_SENS 3.5

#define	IMU_MAG_Y_SENS_NUM 7

#define	IMU_MAG_Y_SENS_DEN 2

#define	IMU_MAG_Z_SENS 3.5

#define	IMU_MAG_Z_SENS_NUM 7

#define	IMU_MAG_Z_SENS_DEN 2

Functions
void	imu_feed_gyro_accel (void)

void	imu_feed_mag (void)

void	imu_nps_init (void)

void	imu_nps_event (void)

Variables
struct ImuNps	imu_nps

Data Structure Documentation

◆ ImuNps

struct ImuNps

Definition at line 72 of file imu_nps.h.

Data Fields
uint8_t	accel_available
uint8_t	gyro_available
uint8_t	mag_available

Macro Definition Documentation

◆ IMU_ACCEL_X_SENS

#define IMU_ACCEL_X_SENS 37.91

we just define some defaults for aspirin v1.5 for now

Definition at line 47 of file imu_nps.h.

◆ IMU_ACCEL_X_SENS_DEN

#define IMU_ACCEL_X_SENS_DEN 100

Definition at line 49 of file imu_nps.h.

◆ IMU_ACCEL_X_SENS_NUM

#define IMU_ACCEL_X_SENS_NUM 3791

Definition at line 48 of file imu_nps.h.

◆ IMU_ACCEL_Y_SENS

#define IMU_ACCEL_Y_SENS 37.91

Definition at line 50 of file imu_nps.h.

◆ IMU_ACCEL_Y_SENS_DEN

#define IMU_ACCEL_Y_SENS_DEN 100

Definition at line 52 of file imu_nps.h.

◆ IMU_ACCEL_Y_SENS_NUM

#define IMU_ACCEL_Y_SENS_NUM 3791

Definition at line 51 of file imu_nps.h.

◆ IMU_ACCEL_Z_SENS

#define IMU_ACCEL_Z_SENS 39.24

Definition at line 53 of file imu_nps.h.

◆ IMU_ACCEL_Z_SENS_DEN

#define IMU_ACCEL_Z_SENS_DEN 100

Definition at line 55 of file imu_nps.h.

◆ IMU_ACCEL_Z_SENS_NUM

#define IMU_ACCEL_Z_SENS_NUM 3924

Definition at line 54 of file imu_nps.h.

◆ IMU_GYRO_P_SENS

#define IMU_GYRO_P_SENS 4.359

we just define some defaults for aspirin v1.5 for now

Definition at line 32 of file imu_nps.h.

◆ IMU_GYRO_P_SENS_DEN

#define IMU_GYRO_P_SENS_DEN 1000

Definition at line 34 of file imu_nps.h.

◆ IMU_GYRO_P_SENS_NUM

#define IMU_GYRO_P_SENS_NUM 4359

Definition at line 33 of file imu_nps.h.

◆ IMU_GYRO_Q_SENS

#define IMU_GYRO_Q_SENS 4.359

Definition at line 35 of file imu_nps.h.

◆ IMU_GYRO_Q_SENS_DEN

#define IMU_GYRO_Q_SENS_DEN 1000

Definition at line 37 of file imu_nps.h.

◆ IMU_GYRO_Q_SENS_NUM

#define IMU_GYRO_Q_SENS_NUM 4359

Definition at line 36 of file imu_nps.h.

◆ IMU_GYRO_R_SENS

#define IMU_GYRO_R_SENS 4.359

Definition at line 38 of file imu_nps.h.

◆ IMU_GYRO_R_SENS_DEN

#define IMU_GYRO_R_SENS_DEN 1000

Definition at line 40 of file imu_nps.h.

◆ IMU_GYRO_R_SENS_NUM

#define IMU_GYRO_R_SENS_NUM 4359

Definition at line 39 of file imu_nps.h.

◆ IMU_MAG_X_SENS

#define IMU_MAG_X_SENS 3.5

Definition at line 60 of file imu_nps.h.

◆ IMU_MAG_X_SENS_DEN

#define IMU_MAG_X_SENS_DEN 2

Definition at line 62 of file imu_nps.h.

◆ IMU_MAG_X_SENS_NUM

#define IMU_MAG_X_SENS_NUM 7

Definition at line 61 of file imu_nps.h.

◆ IMU_MAG_Y_SENS

#define IMU_MAG_Y_SENS 3.5

Definition at line 63 of file imu_nps.h.

◆ IMU_MAG_Y_SENS_DEN

#define IMU_MAG_Y_SENS_DEN 2

Definition at line 65 of file imu_nps.h.

◆ IMU_MAG_Y_SENS_NUM

#define IMU_MAG_Y_SENS_NUM 7

Definition at line 64 of file imu_nps.h.

◆ IMU_MAG_Z_SENS

#define IMU_MAG_Z_SENS 3.5

Definition at line 66 of file imu_nps.h.

◆ IMU_MAG_Z_SENS_DEN

#define IMU_MAG_Z_SENS_DEN 2

Definition at line 68 of file imu_nps.h.

◆ IMU_MAG_Z_SENS_NUM

#define IMU_MAG_Z_SENS_NUM 7

Definition at line 67 of file imu_nps.h.

Function Documentation

◆ imu_feed_gyro_accel()

void imu_feed_gyro_accel ( void )

Definition at line 40 of file imu_nps.c.

References ImuNps::accel_available, Imu::accel_unscaled, ImuNps::gyro_available, Imu::gyro_unscaled, imu, imu_nps, RATES_ASSIGN, sensors, and VECT3_ASSIGN.

Referenced by nps_autopilot_run_step().

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◆ imu_feed_mag()

void imu_feed_mag ( void )

Definition at line 53 of file imu_nps.c.

References imu, imu_nps, ImuNps::mag_available, Imu::mag_unscaled, sensors, and VECT3_ASSIGN.

Referenced by nps_autopilot_run_step().

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◆ imu_nps_event()

void imu_nps_event ( void )

Definition at line 61 of file imu_nps.c.

References Imu::accel, ImuNps::accel_available, get_sys_time_usec(), Imu::gyro, ImuNps::gyro_available, imu, IMU_BOARD_ID, imu_nps, imu_scale_accel(), imu_scale_gyro(), imu_scale_mag(), Imu::mag, and ImuNps::mag_available.

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◆ imu_nps_init()

void imu_nps_init ( void )

Definition at line 30 of file imu_nps.c.

References ImuNps::accel_available, ImuNps::gyro_available, imu_nps, and ImuNps::mag_available.

Variable Documentation

◆ imu_nps

struct ImuNps imu_nps

Definition at line 28 of file imu_nps.c.

Referenced by imu_feed_gyro_accel(), imu_feed_mag(), imu_nps_event(), and imu_nps_init().

Data Structures

Macros

Functions

Variables