Paparazzi UAS  v5.8.2_stable-0-g6260b7c
Paparazzi is a free software Unmanned Aircraft System.
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ahrs_aligner.h File Reference

Interface to align the AHRS via low-passed measurements at startup. More...

#include "std.h"
#include "math/pprz_algebra_int.h"
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Data Structures

struct  AhrsAligner




void ahrs_aligner_init (void)
void ahrs_aligner_run (void)


struct AhrsAligner ahrs_aligner

Detailed Description

Interface to align the AHRS via low-passed measurements at startup.

Definition in file ahrs_aligner.h.

Data Structure Documentation

struct AhrsAligner

Definition at line 39 of file ahrs_aligner.h.

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Data Fields
int32_t low_noise_cnt
struct Int32Vect3 lp_accel
struct Int32Rates lp_gyro
struct Int32Vect3 lp_mag
int32_t noise
uint8_t status

Macro Definition Documentation


Definition at line 37 of file ahrs_aligner.h.

Referenced by ahrs_aligner_run(), and gyro_cb().


Definition at line 36 of file ahrs_aligner.h.

Referenced by ahrs_aligner_init().


Definition at line 35 of file ahrs_aligner.h.

Function Documentation

void ahrs_aligner_init ( void  )

Definition at line 79 of file ahrs_aligner.c.

References accel_sum, ahrs_aligner, AHRS_ALIGNER_IMU_ID, AHRS_ALIGNER_RUNNING, DefaultPeriodic, gyro_cb(), gyro_sum, INT_RATES_ZERO, INT_VECT3_ZERO, AhrsAligner::low_noise_cnt, mag_sum, AhrsAligner::noise, register_periodic_telemetry(), samples_idx, and AhrsAligner::status.

Referenced by init_ap(), and main_init().

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Variable Documentation

struct AhrsAligner ahrs_aligner

Definition at line 37 of file ahrs_aligner.c.

Referenced by ahrs_aligner_init(), ahrs_aligner_run(), and gyro_cb().