imu.h File Reference

Inertial Measurement Unit interface. More...

#include "math/pprz_algebra_int.h"
#include "math/pprz_algebra_float.h"
#include "math/pprz_orientation_conversion.h"
#include "generated/airframe.h"

Include dependency graph for imu.h:

Go to the source code of this file.

Data Structures
struct	Imu
	abstract IMU interface providing fixed point interface More...

Macros
#define	IMU_BODY_TO_IMU_PHI   0
#define	IMU_BODY_TO_IMU_THETA   0
#define	IMU_BODY_TO_IMU_PSI   0
#define	IMU_GYRO_P_NEUTRAL   0
#define	IMU_GYRO_Q_NEUTRAL   0
#define	IMU_GYRO_R_NEUTRAL   0
#define	IMU_ACCEL_X_NEUTRAL   0
#define	IMU_ACCEL_Y_NEUTRAL   0
#define	IMU_ACCEL_Z_NEUTRAL   0
#define	IMU_GYRO_P_SIGN   1
#define	IMU_GYRO_Q_SIGN   1
#define	IMU_GYRO_R_SIGN   1
#define	IMU_ACCEL_X_SIGN   1
#define	IMU_ACCEL_Y_SIGN   1
#define	IMU_ACCEL_Z_SIGN   1
#define	IMU_MAG_X_SIGN   1
#define	IMU_MAG_Y_SIGN   1
#define	IMU_MAG_Z_SIGN   1

Functions
void	imu_impl_init (void)
	must be defined by underlying hardware More...
void	imu_periodic (void)
	optional. More...
void	imu_init (void)
void	imu_SetBodyToImuPhi (float phi)
void	imu_SetBodyToImuTheta (float theta)
void	imu_SetBodyToImuPsi (float psi)
void	imu_SetBodyToImuCurrent (float set)
void	imu_ResetBodyToImu (float reset)
void	imu_scale_gyro (struct Imu *_imu)
void	imu_scale_accel (struct Imu *_imu)
void	imu_scale_mag (struct Imu *_imu)

Variables
struct Imu	imu
	global IMU state More...

Detailed Description

Inertial Measurement Unit interface.

Definition in file imu.h.

---

Data Structure Documentation

struct Imu

abstract IMU interface providing fixed point interface

Definition at line 41 of file imu.h.

Collaboration diagram for Imu:

Data Fields
struct Int32Vect3	accel	accelerometer measurements in m/s^2 in BFP with INT32_ACCEL_FRAC
struct Int32Vect3	accel_neutral	accelerometer bias
struct Int32Vect3	accel_prev	previous accelerometer measurements
struct Int32Vect3	accel_unscaled	unscaled accelerometer measurements
bool_t	b2i_set_current	flag for adjusting body_to_imu via settings. if FALSE, reset to airframe values, if TRUE set current roll/pitch
struct OrientationReps	body_to_imu	rotation from body to imu frame
struct Int32Rates	gyro	gyroscope measurements in rad/s in BFP with INT32_RATE_FRAC
struct Int32Rates	gyro_neutral	gyroscope bias
struct Int32Rates	gyro_prev	previous gyroscope measurements
struct Int32Rates	gyro_unscaled	unscaled gyroscope measurements
struct Int32Vect3	mag	magnetometer measurements scaled to 1 in BFP with INT32_MAG_FRAC
struct Int32Vect3	mag_neutral	magnetometer neutral readings (bias)
struct Int32Vect3	mag_unscaled	unscaled magnetometer measurements

Macro Definition Documentation

#define IMU_ACCEL_X_NEUTRAL   0

Definition at line 94 of file imu.h.

#define IMU_ACCEL_X_SIGN   1

Definition at line 105 of file imu.h.

#define IMU_ACCEL_Y_NEUTRAL   0

Definition at line 95 of file imu.h.

#define IMU_ACCEL_Y_SIGN   1

Definition at line 106 of file imu.h.

#define IMU_ACCEL_Z_NEUTRAL   0

Definition at line 96 of file imu.h.

#define IMU_ACCEL_Z_SIGN   1

Definition at line 107 of file imu.h.

#define IMU_BODY_TO_IMU_PHI   0

Definition at line 82 of file imu.h.

Referenced by imu_init(), and imu_SetBodyToImuCurrent().

#define IMU_BODY_TO_IMU_PSI   0

Definition at line 84 of file imu.h.

Referenced by imu_init(), and imu_SetBodyToImuCurrent().

#define IMU_BODY_TO_IMU_THETA   0

Definition at line 83 of file imu.h.

Referenced by imu_init(), and imu_SetBodyToImuCurrent().

#define IMU_GYRO_P_NEUTRAL   0

Definition at line 88 of file imu.h.

#define IMU_GYRO_P_SIGN   1

Definition at line 100 of file imu.h.

#define IMU_GYRO_Q_NEUTRAL   0

Definition at line 89 of file imu.h.

#define IMU_GYRO_Q_SIGN   1

Definition at line 101 of file imu.h.

#define IMU_GYRO_R_NEUTRAL   0

Definition at line 90 of file imu.h.

#define IMU_GYRO_R_SIGN   1

Definition at line 102 of file imu.h.

#define IMU_MAG_X_SIGN   1

Definition at line 110 of file imu.h.

#define IMU_MAG_Y_SIGN   1

Definition at line 111 of file imu.h.

#define IMU_MAG_Z_SIGN   1

Definition at line 112 of file imu.h.

Function Documentation

void imu_impl_init

(

void

)

must be defined by underlying hardware

must be defined by underlying hardware

Todo:

drdy int handling for adxl345

Todo:

eoc interrupt for itg3200, polling for now (including status reg)

Todo:

drdy int handling for adxl345

Todo:

eoc interrupt for itg3200, polling for now (including status reg)

Todo:

drdy int handling for adxl345

Definition at line 79 of file imu_apogee.c.

References ImuAspirin::acc_adxl, ImuAspirinI2c::acc_adxl, ImuGL1I2c::acc_adxl, ImuPpzuav::acc_adxl, ImuXsens::accel_available, ImuNps::accel_available, Mpu60x0Config::accel_range, Mpu9250Config::accel_range, ImuKrooz::accel_sum, ImuAspirin::accel_valid, ImuKrooz::ad7689_spi_rx_buffer, ImuKrooz::ad7689_spi_tx_buffer, ImuKrooz::ad7689_trans, adc_buf_channel(), ADS8344_available, ImuNavgo::adxl, ImuUmarim::adxl, ADXL345_ADDR, ADXL345_ADDR_ALT, adxl345_i2c_init(), adxl345_spi_init(), spi_transaction::after_cb, ahrs_gx3, ahrs_gx3_align(), ImuBebop::ak, AK8963_ADDR, ak8963_init(), ami601_init(), analog_imu_adc_buf, APOGEE_ACCEL_RANGE, APOGEE_GYRO_RANGE, APOGEE_LOWPASS_FILTER, APOGEE_SMPLRT_DIV, aspirin2_mpu60x0, ASPIRIN_2_ACCEL_RANGE, ASPIRIN_2_GYRO_RANGE, ASPIRIN_2_SPI_DEV, ASPIRIN_2_SPI_SLAVE_IDX, ASPIRIN_ACCEL_RATE, ASPIRIN_GYRO_LOWPASS, ASPIRIN_GYRO_SMPLRT_DIV, ASPIRIN_I2C_DEV, ASPIRIN_SPI_DEV, ASPIRIN_SPI_SLAVE_IDX, BEBOP_ACCEL_RANGE, BEBOP_GYRO_RANGE, BEBOP_MAG_I2C_DEV, BEBOP_MPU_I2C_DEV, spi_transaction::before_cb, spi_transaction::bitorder, i2c_transaction::buf, buf_out, spi_transaction::cdiv, GX3Packet::chksm_error, UM6Packet::chksm_error, Adxl345_I2c::config, Adxl345_Spi::config, Mpu60x0_Spi::config, Mpu60x0_I2c::config, Mpu9250_I2c::config, L3g4200::config, Itg3200::config, Mpu60x0I2cSlave::configure, Mpu9250I2cSlave::configure, configure_baro_slave(), spi_transaction::cpha, spi_transaction::cpol, L3g4200Config::ctrl_reg1, L3g4200Config::ctrl_reg4, L3g4200Config::ctrl_reg5, data_chk, DefaultPeriodic, Mpu9250Config::dlpf_accel_cfg, Itg3200Config::dlpf_cfg, Mpu60x0Config::dlpf_cfg, Mpu9250Config::dlpf_gyro_cfg, Mpu60x0Config::drdy_int_enable, DROTEK_2_ACCEL_RANGE, DROTEK_2_GYRO_RANGE, DROTEK_2_HMC_I2C_ADDR, DROTEK_2_MPU_I2C_ADDR, spi_transaction::dss, FALSE, GL1_ACCEL_RATE, GL1_GYRO_LOWPASS, GL1_GYRO_SMPLRT, gpio_set(), gpio_setup_output(), GX3PacketWaiting, ImuXsens::gyro_available, ImuNps::gyro_available, ImuAspirin::gyro_itg, ImuAspirinI2c::gyro_itg, ImuPpzuav::gyro_itg, ImuGL1I2c::gyro_l3g, Mpu60x0Config::gyro_range, Mpu9250Config::gyro_range, ImuAspirin::gyro_valid, GX3Packet::hdr_error, UM6Packet::hdr_error, ImuPx4fmu::hmc, ImuMpu6000Hmc5883::hmc, ImuHbmini::hmc, ImuNavgo::hmc, ImuNavstik::hmc, ImuDrotek2::hmc, ImuKrooz::hmc, hmc5843_init(), HMC58XX_ADDR, hmc58xx_init(), ImuKrooz::hmc_eoc, HMC_TYPE_5843, HMC_TYPE_5883, Mpu60x0Config::i2c_bypass, Mpu60x0Config::i2c_mst_clk, Mpu9250Config::i2c_mst_clk, Mpu60x0Config::i2c_mst_delay, Mpu9250Config::i2c_mst_delay, i2c_transmit(), I2CTransPending, imu_apogee, imu_aspirin2, imu_aspirin2_configure_mag_slave(), imu_aspirin_arch_init(), imu_b2, imu_crista_arch_init(), imu_drotek2_configure_mag_slave(), IMU_GX3_LONG_DELAY, imu_hbmini, imu_krooz_sd_arch_init(), IMU_MPU60X0_ACCEL_RANGE, IMU_MPU60X0_GYRO_RANGE, IMU_MPU60X0_I2C_ADDR, imu_mpu9250, IMU_MPU9250_ACCEL_LOWPASS_FILTER, IMU_MPU9250_ACCEL_RANGE, imu_mpu9250_configure_mag_slave(), IMU_MPU9250_GYRO_LOWPASS_FILTER, IMU_MPU9250_GYRO_RANGE, IMU_MPU9250_I2C_ADDR, IMU_MPU9250_SMPLRT_DIV, IMU_MPU_ACCEL_RANGE, IMU_MPU_GYRO_RANGE, imu_mpu_i2c, imu_navgo, imu_nps, imu_overrun, IMU_PPZUAV_ACCEL_RATE, IMU_PPZUAV_GYRO_LOWPASS, IMU_PPZUAV_GYRO_SMPLRT_DIV, IMU_PPZUAV_I2C_DEV, IMU_UM6_COMMUNICATION_REG, IMU_UM6_MISC_CONFIG_REG, imu_xsens, InitMedianFilterRatesInt, InitMedianFilterVect3Int, spi_transaction::input_buf, spi_transaction::input_length, AhrsGX3::is_aligned, ImuNavgo::itg, ImuUmarim::itg, ITG3200_ADDR, ITG3200_ADDR_ALT, itg3200_init(), KROOZ_ACCEL_RANGE, KROOZ_GYRO_RANGE, KROOZ_LOWPASS_FILTER, KROOZ_SMPLRT_DIV, L3G4200_ADDR_ALT, l3g4200_init(), L3G4200_SCALE, ImuXsens::mag_available, ImuNps::mag_available, ImuAspirin::mag_hmc, ImuAspirinI2c::mag_hmc, ImuGL1I2c::mag_hmc, ImuPpzuav::mag_hmc, ImuAspirin::mag_valid, max1168_init(), ImuKrooz::meas_nb, median_mag, ImuMpu60x0::mpu, ImuMpu6000::mpu, ImuPx4fmu::mpu, ImuMpu6000Hmc5883::mpu, ImuAspirin2Spi::mpu, ImuBebop::mpu, ImuNavstik::mpu, ImuMpu9250::mpu, ImuDrotek2::mpu, ImuKrooz::mpu, ImuApogee::mpu, MPU60X0_ADDR, MPU60X0_ADDR_ALT, mpu60x0_i2c_init(), MPU60X0_MST_CLK_400KHZ, MPU60X0_REG_ACCEL_CONFIG, MPU60X0_REG_CONFIG, MPU60X0_REG_GYRO_CONFIG, MPU60X0_REG_PWR_MGMT_1, MPU60X0_REG_SMPLRT_DIV, mpu60x0_spi_init(), mpu9250_i2c_init(), MPU9250_MST_CLK_400KHZ, mpu9250_spi_init(), ImuKrooz::mpu_eoc, mpu_wait_slave4_ready_cb(), ms2100, ms2100_init(), GX3Packet::msg_available, UM6Packet::msg_available, GX3Packet::msg_idx, UM6Packet::msg_idx, navdata_init(), NAVGO_ACCEL_RATE, NAVGO_GYRO_LOWPASS, NAVGO_GYRO_SMPLRT_DIV, NAVSTIK_ACCEL_RANGE, NAVSTIK_GYRO_RANGE, NAVSTIK_MAG_I2C_DEV, NAVSTIK_MPU_I2C_DEV, Mpu60x0Config::nb_bytes, Mpu9250Config::nb_bytes, Mpu60x0Config::nb_slaves, Mpu9250Config::nb_slaves, spi_transaction::output_buf, spi_transaction::output_length, AhrsGX3::packet, PX4FMU_ACCEL_RANGE, PX4FMU_GYRO_RANGE, Adxl345Config::range, Adxl345Config::rate, RATES_ASSIGN, ImuKrooz::rates_sum, register_periodic_telemetry(), spi_transaction::select, ImuAspirin2Spi::slave4_ready, ImuMpu9250::slave4_ready, spi_transaction::slave_idx, Mpu60x0Config::slaves, Mpu9250Config::slaves, Itg3200Config::smplrt_div, Mpu60x0Config::smplrt_div, Mpu9250Config::smplrt_div, spi1, SPI_SLAVE2, SPICphaEdge1, SPICphaEdge2, SPICpolIdleHigh, SPICpolIdleLow, SPIDiv16, SPIDiv64, SPIDss8bit, SPIMSBFirst, SPISelectUnselect, SPITransDone, GX3Packet::status, UM6Packet::status, i2c_transaction::status, spi_transaction::status, TRUE, Hmc58xx::type, uart_put_byte(), UM6_calculate_checksum(), UM6_imu_align(), UM6_packet, UM6_send_packet(), UM6_status, UM6PacketWaiting, UM6Uninit, UMARIM_ACCEL_RANGE, UMARIM_ACCEL_RATE, UMARIM_GYRO_LOWPASS, UMARIM_GYRO_SMPLRT_DIV, VECT3_ASSIGN, ImuAspirin2Spi::wait_slave4_rx_buf, ImuMpu9250::wait_slave4_rx_buf, ImuAspirin2Spi::wait_slave4_trans, ImuMpu9250::wait_slave4_trans, ImuAspirin2Spi::wait_slave4_tx_buf, ImuMpu9250::wait_slave4_tx_buf, and xsens_init().

Referenced by imu_init().

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void imu_init

(

void

)

Definition at line 110 of file imu.c.

References Imu::accel_neutral, Imu::body_to_imu, DefaultPeriodic, gpio_setup_output(), Imu::gyro_neutral, imu, IMU_ACCEL_X_NEUTRAL, IMU_ACCEL_Y_NEUTRAL, IMU_ACCEL_Z_NEUTRAL, IMU_BODY_TO_IMU_PHI, IMU_BODY_TO_IMU_PSI, IMU_BODY_TO_IMU_THETA, IMU_GYRO_P_NEUTRAL, IMU_GYRO_Q_NEUTRAL, IMU_GYRO_R_NEUTRAL, imu_impl_init(), IMU_POWER_GPIO, INT_VECT3_ZERO, Imu::mag_neutral, orientationSetEulers_f(), RATES_ASSIGN, register_periodic_telemetry(), and VECT3_ASSIGN.

Referenced by init_ap(), and main_init().

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void imu_periodic

(

void

)

optional.

If not provided by implementation, empty function is used

optional.

Read the MPU60x0 every periodic call and the HMC58XX every 10th call.

Definition at line 95 of file imu_apogee.c.

References ImuAspirin::acc_adxl, ImuAspirinI2c::acc_adxl, ImuGL1I2c::acc_adxl, ImuPpzuav::acc_adxl, Imu::accel, ImuKrooz::accel_filtered, ImuKrooz::accel_sum, Imu::accel_unscaled, ImuNavgo::adxl, ImuUmarim::adxl, adxl345_i2c_periodic(), adxl345_spi_periodic(), ImuBebop::ak, ak8963_periodic(), ami601_read(), analog_imu_adc_buf, aspirin2_mpu60x0, i2c_transaction::buf, Mpu60x0_I2c::config, get_sys_time_usec(), Imu::gyro, ImuAspirin::gyro_itg, ImuAspirinI2c::gyro_itg, ImuPpzuav::gyro_itg, ImuGL1I2c::gyro_l3g, Imu::gyro_unscaled, adc_buf::head, ImuPx4fmu::hmc, ImuMpu6000Hmc5883::hmc, ImuHbmini::hmc, ImuNavgo::hmc, ImuNavstik::hmc, ImuDrotek2::hmc, ImuKrooz::hmc, hmc5843_periodic(), hmc58xx_periodic(), hmc58xx_read(), hmc58xx_start_configure(), i2c_transceive(), imu, IMU_ANALOG_ID, imu_apogee, imu_aspirin, imu_aspirin2, imu_b2, imu_bebop, IMU_BOARD_ID, imu_drotek2, imu_gl1, imu_hbmini, IMU_KROOZ_ACCEL_AVG_FILTER, imu_mpu9250, imu_mpu_hmc, imu_mpu_i2c, imu_mpu_spi, imu_navgo, imu_navstik, imu_overrun, imu_ppzuav, imu_px4fmu, imu_scale_accel(), imu_scale_gyro(), imu_umarim, ImuCristaArchPeriodic, Hmc58xx::initialized, Mpu60x0Config::initialized, INT_VECT3_ZERO, ImuNavgo::itg, ImuUmarim::itg, itg3200_periodic(), l3g4200_periodic(), ImuAspirin::mag_hmc, ImuGL1I2c::mag_hmc, ImuAspirinI2c::mag_hmc, ImuPpzuav::mag_hmc, Max1168Periodic, ImuKrooz::meas_nb, ImuKrooz::meas_nb_acc, ImuMpu6000::mpu, ImuMpu60x0::mpu, ImuPx4fmu::mpu, ImuMpu6000Hmc5883::mpu, ImuAspirin2Spi::mpu, ImuBebop::mpu, ImuNavstik::mpu, ImuMpu9250::mpu, ImuDrotek2::mpu, ImuKrooz::mpu, ImuApogee::mpu, MPU60X0_ADDR, mpu60x0_i2c_periodic(), mpu60x0_i2c_start_configure(), MPU60X0_REG_INT_STATUS, mpu60x0_spi_periodic(), mpu9250_i2c_periodic(), mpu9250_spi_periodic(), ms2100, ms2100_periodic(), NAVGO_ACCEL_RATE, Int32Rates::p, PERIODIC_FREQUENCY, Int32Rates::q, Int32Rates::r, RATES_ASSIGN, ImuKrooz::rates_sum, adc_buf::sum, UpdateMedianFilterVect3Int, VECT3_ADD, VECT3_ASSIGN, VECT3_COPY, VECT3_SDIV, VECT3_SMUL, Uint8Vect3::x, Int32Vect3::x, xsens_periodic(), Uint8Vect3::y, Int32Vect3::y, Uint8Vect3::z, and Int32Vect3::z.

Referenced by main_periodic(), main_periodic_task(), and sensors_task().

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void imu_ResetBodyToImu

(

float

reset

)

void imu_scale_accel

(

struct Imu *

_imu

)

Definition at line 350 of file ahrs_gx3.c.

References Imu::accel, Imu::accel_neutral, Imu::accel_prev, Imu::accel_unscaled, IMU_ACCEL_X_SENS_DEN, IMU_ACCEL_X_SENS_NUM, IMU_ACCEL_X_SIGN, IMU_ACCEL_Y_SENS_DEN, IMU_ACCEL_Y_SENS_NUM, IMU_ACCEL_Y_SIGN, IMU_ACCEL_Z_SENS_DEN, IMU_ACCEL_Z_SENS_NUM, IMU_ACCEL_Z_SIGN, VECT3_COPY, Int32Vect3::x, Int32Vect3::y, and Int32Vect3::z.

Referenced by aspirin2_subsystem_event(), handle_ins_msg(), imu_apogee_event(), imu_aspirin2_event(), imu_aspirin_event(), imu_aspirin_i2c_event(), imu_b2_event(), imu_bebop_event(), imu_christa_event(), imu_drotek2_event(), imu_gl1_i2c_event(), imu_hbmini_event(), imu_mpu9250_event(), imu_mpu_hmc_event(), imu_mpu_i2c_event(), imu_mpu_spi_event(), imu_navgo_event(), imu_navstik_event(), imu_nps_event(), imu_periodic(), imu_ppzuav_event(), imu_px4fmu_event(), imu_umarim_event(), and navdata_publish_imu().

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void imu_scale_gyro

(

struct Imu *

_imu

)

Definition at line 349 of file ahrs_gx3.c.

References Imu::gyro, Imu::gyro_neutral, Imu::gyro_prev, Imu::gyro_unscaled, IMU_GYRO_P_SENS_DEN, IMU_GYRO_P_SENS_NUM, IMU_GYRO_P_SIGN, IMU_GYRO_Q_SENS_DEN, IMU_GYRO_Q_SENS_NUM, IMU_GYRO_Q_SIGN, IMU_GYRO_R_SENS_DEN, IMU_GYRO_R_SENS_NUM, IMU_GYRO_R_SIGN, Int32Rates::p, Int32Rates::q, Int32Rates::r, and RATES_COPY.

Referenced by aspirin2_subsystem_event(), handle_ins_msg(), imu_apogee_event(), imu_aspirin2_event(), imu_aspirin_event(), imu_aspirin_i2c_event(), imu_b2_event(), imu_bebop_event(), imu_christa_event(), imu_drotek2_event(), imu_gl1_i2c_event(), imu_hbmini_event(), imu_mpu9250_event(), imu_mpu_hmc_event(), imu_mpu_i2c_event(), imu_mpu_spi_event(), imu_navgo_event(), imu_navstik_event(), imu_nps_event(), imu_periodic(), imu_ppzuav_event(), imu_px4fmu_event(), imu_umarim_event(), and navdata_publish_imu().

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void imu_scale_mag

(

struct Imu *

_imu

)

Definition at line 351 of file ahrs_gx3.c.

References IMU_MAG_X_SENS_DEN, IMU_MAG_X_SENS_NUM, IMU_MAG_X_SIGN, IMU_MAG_Y_SENS_DEN, IMU_MAG_Y_SENS_NUM, IMU_MAG_Y_SIGN, IMU_MAG_Z_SENS_DEN, IMU_MAG_Z_SENS_NUM, IMU_MAG_Z_SIGN, Imu::mag, Imu::mag_neutral, Imu::mag_unscaled, Int32Vect3::x, Int32Vect3::y, and Int32Vect3::z.

Referenced by handle_ins_msg(), imu_aspirin2_event(), imu_aspirin_event(), imu_aspirin_i2c_event(), imu_bebop_event(), imu_drotek2_event(), imu_gl1_i2c_event(), imu_hbmini_event(), imu_krooz_event(), imu_mpu9250_event(), imu_mpu_hmc_event(), imu_navgo_event(), imu_navstik_event(), imu_nps_event(), imu_ppzuav_event(), imu_px4fmu_event(), mag_hmc58xx_module_event(), and navdata_publish_imu().

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void imu_SetBodyToImuCurrent

(

float

set

)

Definition at line 179 of file imu.c.

References Imu::b2i_set_current, Imu::body_to_imu, FALSE, imu, IMU_BODY_TO_IMU_PHI, IMU_BODY_TO_IMU_PSI, IMU_BODY_TO_IMU_THETA, orientationGetEulers_f(), orientationGetQuat_f(), orientationSetEulers_f(), FloatEulers::phi, stateGetNedToBodyEulers_f(), stateIsAttitudeValid(), and FloatEulers::theta.

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void imu_SetBodyToImuPhi

(

float

phi

)

Definition at line 152 of file imu.c.

References Imu::body_to_imu, imu, orientationGetEulers_f(), orientationGetQuat_f(), orientationSetEulers_f(), and FloatEulers::phi.

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void imu_SetBodyToImuPsi

(

float

psi

)

Definition at line 170 of file imu.c.

References Imu::body_to_imu, imu, orientationGetEulers_f(), orientationGetQuat_f(), orientationSetEulers_f(), and FloatEulers::psi.

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void imu_SetBodyToImuTheta

(

float

theta

)

Definition at line 161 of file imu.c.

References Imu::body_to_imu, imu, orientationGetEulers_f(), orientationGetQuat_f(), orientationSetEulers_f(), and FloatEulers::theta.

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Variable Documentation

struct Imu imu

global IMU state

Definition at line 43 of file imu_aspirin2.c.

Referenced by ahrs_aligner_run(), ahrs_gx3_init(), ahrs_gx3_publish_imu(), aspirin2_subsystem_downlink_raw(), aspirin2_subsystem_event(), b2_hff_propagate(), direct_memory_logger_periodic(), file_logger_periodic(), gx3_packet_read_message(), handle_ins_msg(), high_speed_logger_spi_link_periodic(), imu_apogee_downlink_raw(), imu_apogee_event(), imu_aspirin2_event(), imu_aspirin_event(), imu_aspirin_i2c_event(), imu_b2_event(), imu_bebop_event(), imu_christa_event(), imu_drotek2_event(), imu_feed_gyro_accel(), imu_feed_mag(), imu_gl1_i2c_event(), imu_hbmini_downlink_raw(), imu_hbmini_event(), imu_init(), imu_krooz_downlink_raw(), imu_krooz_event(), imu_mpu9250_event(), imu_mpu_hmc_event(), imu_mpu_i2c_event(), imu_mpu_spi_event(), imu_navgo_downlink_raw(), imu_navgo_event(), imu_navstik_event(), imu_nps_event(), imu_periodic(), imu_ppzuav_event(), imu_px4fmu_event(), imu_quality_assessment_periodic(), imu_SetBodyToImuCurrent(), imu_SetBodyToImuPhi(), imu_SetBodyToImuPsi(), imu_SetBodyToImuTheta(), imu_um6_publish(), imu_umarim_downlink_raw(), imu_umarim_event(), init_ap(), ins_int_propagate(), logger_uart_periodic(), mag_hmc58xx_module_event(), main_init(), nav_catapult_highrate_module(), navdata_publish_imu(), send_imu_mag_current(), and UM6_packet_read_message().