sim_ahrs.c

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#include <inttypes.h>
#include <caml/mlvalues.h>
#include "std.h"
 
float sim_phi;    
float sim_theta;  
float sim_psi;    
float sim_p;      
float sim_q;      
float sim_r;      
 
// Updates from Ocaml sim
 
value provide_attitude(value phi, value theta, value psi)
{
  sim_phi = Double_val(phi);
  sim_theta = Double_val(theta);
  sim_psi = - Double_val(psi) + M_PI / 2.;
 
  return Val_unit;
}
 
value provide_rates(value p, value q, value r)
{
  sim_p = Double_val(p);
  sim_q = Double_val(q);
  sim_r = Double_val(r);
 
  return Val_unit;
}