imu_xsens.c File Reference

#include "imu_xsens.h"
#include "xsens.h"
#include "generated/airframe.h"
#include "mcu_periph/sys_time.h"
#include "subsystems/abi.h"

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Functions
static void	handle_ins_msg (void)
void	imu_xsens_init (void)
void	imu_xsens_event (void)

Detailed Description

XSENS to just provide IMU measurements. For use with an external AHRS algorithm.

Definition in file imu_xsens.c.

Function Documentation

handle_ins_msg()

static void handle_ins_msg ( void  )

static

Definition at line 53 of file imu_xsens.c.

References Xsens::accel, Imu::accel, Xsens::accel_available, ACCEL_BFP_OF_REAL, Imu::accel_unscaled, ACCELS_BFP_OF_REAL, FALSE, get_sys_time_usec(), Xsens::gyro, Imu::gyro, Xsens::gyro_available, Imu::gyro_unscaled, imu, imu_scale_accel(), imu_scale_gyro(), imu_scale_mag(), IMU_XSENS_ID, Xsens::mag, Imu::mag, Xsens::mag_available, MAG_BFP_OF_REAL, Imu::mag_unscaled, MAGS_BFP_OF_REAL, FloatRates::p, FloatRates::q, FloatRates::r, RATE_BFP_OF_REAL, RATES_ASSIGN, RATES_BFP_OF_REAL, VECT3_ASSIGN, and xsens.

Referenced by imu_xsens_event().

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imu_xsens_event()

void imu_xsens_event

(

void

)

Definition at line 43 of file imu_xsens.c.

References FALSE, handle_ins_msg(), XsensParser::msg_received, parse_xsens_msg(), Xsens::parser, xsens, and xsens_parser_event().

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imu_xsens_init()

void imu_xsens_init

(

void

)

Definition at line 38 of file imu_xsens.c.

References xsens_init().

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