imu_nps.h File Reference

#include "subsystems/imu.h"
#include "generated/airframe.h"

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Data Structures
struct	ImuNps

Macros
#define	IMU_GYRO_P_SENS   4.359
	we just define some defaults for aspirin v1.5 for now More...
#define	IMU_GYRO_P_SENS_NUM   4359
#define	IMU_GYRO_P_SENS_DEN   1000
#define	IMU_GYRO_Q_SENS   4.359
#define	IMU_GYRO_Q_SENS_NUM   4359
#define	IMU_GYRO_Q_SENS_DEN   1000
#define	IMU_GYRO_R_SENS   4.359
#define	IMU_GYRO_R_SENS_NUM   4359
#define	IMU_GYRO_R_SENS_DEN   1000
#define	IMU_ACCEL_X_SENS   37.91
	we just define some defaults for aspirin v1.5 for now More...
#define	IMU_ACCEL_X_SENS_NUM   3791
#define	IMU_ACCEL_X_SENS_DEN   100
#define	IMU_ACCEL_Y_SENS   37.91
#define	IMU_ACCEL_Y_SENS_NUM   3791
#define	IMU_ACCEL_Y_SENS_DEN   100
#define	IMU_ACCEL_Z_SENS   39.24
#define	IMU_ACCEL_Z_SENS_NUM   3924
#define	IMU_ACCEL_Z_SENS_DEN   100
#define	IMU_MAG_X_SENS   3.5
#define	IMU_MAG_X_SENS_NUM   7
#define	IMU_MAG_X_SENS_DEN   2
#define	IMU_MAG_Y_SENS   3.5
#define	IMU_MAG_Y_SENS_NUM   7
#define	IMU_MAG_Y_SENS_DEN   2
#define	IMU_MAG_Z_SENS   3.5
#define	IMU_MAG_Z_SENS_NUM   7
#define	IMU_MAG_Z_SENS_DEN   2
#define	ImuEvent   imu_nps_event

Functions
void	imu_feed_gyro_accel (void)
void	imu_feed_mag (void)
void	imu_nps_event (void)

Variables
struct ImuNps	imu_nps

---

Data Structure Documentation

struct ImuNps

Definition at line 72 of file imu_nps.h.

Data Fields
uint8_t	accel_available
uint8_t	gyro_available
uint8_t	mag_available

Macro Definition Documentation

#define IMU_ACCEL_X_SENS   37.91

we just define some defaults for aspirin v1.5 for now

Definition at line 47 of file imu_nps.h.

#define IMU_ACCEL_X_SENS_DEN   100

Definition at line 49 of file imu_nps.h.

#define IMU_ACCEL_X_SENS_NUM   3791

Definition at line 48 of file imu_nps.h.

#define IMU_ACCEL_Y_SENS   37.91

Definition at line 50 of file imu_nps.h.

#define IMU_ACCEL_Y_SENS_DEN   100

Definition at line 52 of file imu_nps.h.

#define IMU_ACCEL_Y_SENS_NUM   3791

Definition at line 51 of file imu_nps.h.

#define IMU_ACCEL_Z_SENS   39.24

Definition at line 53 of file imu_nps.h.

#define IMU_ACCEL_Z_SENS_DEN   100

Definition at line 55 of file imu_nps.h.

#define IMU_ACCEL_Z_SENS_NUM   3924

Definition at line 54 of file imu_nps.h.

#define IMU_GYRO_P_SENS   4.359

we just define some defaults for aspirin v1.5 for now

Definition at line 32 of file imu_nps.h.

#define IMU_GYRO_P_SENS_DEN   1000

Definition at line 34 of file imu_nps.h.

#define IMU_GYRO_P_SENS_NUM   4359

Definition at line 33 of file imu_nps.h.

#define IMU_GYRO_Q_SENS   4.359

Definition at line 35 of file imu_nps.h.

#define IMU_GYRO_Q_SENS_DEN   1000

Definition at line 37 of file imu_nps.h.

#define IMU_GYRO_Q_SENS_NUM   4359

Definition at line 36 of file imu_nps.h.

#define IMU_GYRO_R_SENS   4.359

Definition at line 38 of file imu_nps.h.

#define IMU_GYRO_R_SENS_DEN   1000

Definition at line 40 of file imu_nps.h.

#define IMU_GYRO_R_SENS_NUM   4359

Definition at line 39 of file imu_nps.h.

#define IMU_MAG_X_SENS   3.5

Definition at line 60 of file imu_nps.h.

#define IMU_MAG_X_SENS_DEN   2

Definition at line 62 of file imu_nps.h.

#define IMU_MAG_X_SENS_NUM   7

Definition at line 61 of file imu_nps.h.

#define IMU_MAG_Y_SENS   3.5

Definition at line 63 of file imu_nps.h.

#define IMU_MAG_Y_SENS_DEN   2

Definition at line 65 of file imu_nps.h.

#define IMU_MAG_Y_SENS_NUM   7

Definition at line 64 of file imu_nps.h.

#define IMU_MAG_Z_SENS   3.5

Definition at line 66 of file imu_nps.h.

#define IMU_MAG_Z_SENS_DEN   2

Definition at line 68 of file imu_nps.h.

#define IMU_MAG_Z_SENS_NUM   7

Definition at line 67 of file imu_nps.h.

#define ImuEvent   imu_nps_event

Definition at line 85 of file imu_nps.h.

Function Documentation

void imu_feed_gyro_accel

(

void

)

Definition at line 44 of file imu_nps.c.

References ImuNps::accel_available, Imu::accel_unscaled, ImuNps::gyro_available, Imu::gyro_unscaled, imu, imu_nps, RATES_ASSIGN, TRUE, VECT3_ASSIGN, and Int32Vect3::x.

void imu_feed_mag

(

void

)

Definition at line 57 of file imu_nps.c.

References imu, imu_nps, ImuNps::mag_available, Imu::mag_unscaled, TRUE, VECT3_ASSIGN, and Int32Vect3::x.

void imu_nps_event

(

void

)

Definition at line 65 of file imu_nps.c.

References Imu::accel, ImuNps::accel_available, FALSE, get_sys_time_usec(), Imu::gyro, ImuNps::gyro_available, imu, IMU_BOARD_ID, imu_nps, imu_scale_accel(), imu_scale_gyro(), imu_scale_mag(), Imu::mag, and ImuNps::mag_available.

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Variable Documentation

struct ImuNps imu_nps

Definition at line 28 of file imu_nps.c.

Referenced by imu_feed_gyro_accel(), imu_feed_mag(), imu_impl_init(), and imu_nps_event().