AHRS infrared

Module XML file: ahrs_infrared.xml

Attitude estimation using infrared sensors detecting the horizon. For fixedwings only:

• GPS course is used as heading.
• ADC channels can be used for gyros.

Example for airframe file

<modules>
  <load name="ahrs_infrared.xml"/>
</modules>

Module functions

Init Functions

These initialization functions are called once on startup.

• ahrs_infrared_init()

Periodic Functions

These functions are called periodically at the specified frequency from the module periodic loop.

• ahrs_infrared_periodic()
  • Frequency in Hz: 60
  • Autorun: LOCK
    Periodic function automatically starts after init and can't be stopped.

Files

Header Files

The following headers are automatically included in modules.h

• ahrs_infrared.h

Source Files

• modules/ahrs/ahrs_infrared.c

Raw ahrs_infrared.xml file:

<!DOCTYPE module SYSTEM "module.dtd">

<module name="ahrs_infrared" dir="ahrs">
  <doc>
    <description>
    AHRS infrared.
    Attitude estimation using infrared sensors detecting the horizon.
    For fixedwings only:
    - GPS course is used as heading.
    - ADC channels can be used for gyros.
    </description>
  </doc>
  <depends>infrared_adc</depends>
  <header>
    <file name="ahrs_infrared.h"/>
  </header>
  <init fun="ahrs_infrared_init()"/>
  <periodic fun="ahrs_infrared_periodic()" freq="60"/>
  <makefile>
    <file name="ahrs_infrared.c"/>
  </makefile>
</module>