pose_history.c File Reference

#include "modules/pose_history/pose_history.h"
#include <sys/time.h>
#include "mcu_periph/sys_time.h"
#include "state.h"

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Data Structures
struct	rotation_history_ring_buffer_t

Macros
#define	POSE_HISTORY_SIZE   1024

Functions
struct pose_t	get_rotation_at_timestamp (uint32_t timestamp)
	Given a pprz timestamp in used (obtained with get_sys_time_usec) we return the pose in FloatEulers closest to that time. More...
void	pose_init ()
	Initialises the pose history. More...
void	pose_periodic ()
	Records the pose history 512 times per second. More...

Variables
struct rotation_history_ring_buffer_t	location_history

Detailed Description

Author

Roland Meertens Ask this module for the pose the drone had closest to a given timestamp

Definition in file pose_history.c.

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Data Structure Documentation

rotation_history_ring_buffer_t

struct rotation_history_ring_buffer_t

Definition at line 38 of file pose_history.c.

Collaboration diagram for rotation_history_ring_buffer_t:

Data Fields
struct pose_t	ring_data[POSE_HISTORY_SIZE]
uint32_t	ring_index
uint32_t	ring_size

Macro Definition Documentation

POSE_HISTORY_SIZE

#define POSE_HISTORY_SIZE   1024

Definition at line 35 of file pose_history.c.

Function Documentation

get_rotation_at_timestamp()

struct pose_t get_rotation_at_timestamp

(

uint32_t

timestamp

)

Given a pprz timestamp in used (obtained with get_sys_time_usec) we return the pose in FloatEulers closest to that time.

Definition at line 53 of file pose_history.c.

References pose_t::eulers, location_history, pose_t::rates, rotation_history_ring_buffer_t::ring_data, rotation_history_ring_buffer_t::ring_size, and pose_t::timestamp.

Referenced by opticflow_module_calc(), and save_shot_on_disk().

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pose_init()

void pose_init

(

)

Initialises the pose history.

Definition at line 85 of file pose_history.c.

References location_history, POSE_HISTORY_SIZE, rotation_history_ring_buffer_t::ring_index, and rotation_history_ring_buffer_t::ring_size.

pose_periodic()

void pose_periodic

(

)

Records the pose history 512 times per second.

Time gets saved in pprz usec, obtained with get_sys_time_usec();

Definition at line 95 of file pose_history.c.

References pose_t::eulers, get_sys_time_usec(), location_history, pose_t::rates, rotation_history_ring_buffer_t::ring_data, rotation_history_ring_buffer_t::ring_index, rotation_history_ring_buffer_t::ring_size, stateGetBodyRates_f(), stateGetNedToBodyEulers_f(), and pose_t::timestamp.

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Variable Documentation

location_history

struct rotation_history_ring_buffer_t location_history

Definition at line 44 of file pose_history.c.

Referenced by get_rotation_at_timestamp(), pose_init(), and pose_periodic().