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

INS for rotorcrafts combining vertical and horizontal filters. More...

#include "subsystems/ins.h"
#include "subsystems/gps.h"
#include "std.h"
#include "math/pprz_geodetic_int.h"
#include "math/pprz_algebra_float.h"
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Data Structures

struct  InsInt
 Ins implementation state (fixed point) More...


#define DefaultInsImpl   ins_int


void ins_int_init (void)
void ins_int_propagate (struct Int32Vect3 *accel, float dt)
void ins_int_update_gps (struct GpsState *gps_s)
void ins_int_register (void)


struct InsInt ins_int
 global INS state More...

Detailed Description

INS for rotorcrafts combining vertical and horizontal filters.

Definition in file ins_int.h.

Data Structure Documentation

struct InsInt

Ins implementation state (fixed point)

Definition at line 39 of file ins_int.h.

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Data Fields
bool_t baro_initialized
float baro_z z-position calculated from baro in meters (z-down)
bool_t hf_realign request to realign horizontal filter.

Sets to current position (local origin unchanged).

struct NedCoor_i ltp_accel
struct LtpDef_i ltp_def
bool_t ltp_initialized
struct NedCoor_i ltp_pos
struct NedCoor_i ltp_speed
uint32_t propagation_cnt number of propagation steps since the last measurement update
float qfe
bool_t vf_reset request to reset vertical filter.

Sets the z-position to zero and resets the the z-reference to current altitude.

Macro Definition Documentation

#define DefaultInsImpl   ins_int

Definition at line 79 of file ins_int.h.

Function Documentation

void ins_int_register ( void  )

Definition at line 549 of file ins_int.c.

References ABI_BROADCAST, accel_cb(), gps_cb(), INS_INT_IMU_ID, ins_int_init(), INS_INT_VEL_ID, ins_register_impl(), and vel_est_cb().

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Variable Documentation