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ahrs_float_cmpl.h
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ahrs_float_cmpl.h
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/*
* Copyright (C) 2010 The Paparazzi Team
*
* This file is part of paparazzi.
*
* paparazzi is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2, or (at your option)
* any later version.
*
* paparazzi is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
*/
#ifndef AHRS_FLOAT_CMPL
#define AHRS_FLOAT_CMPL
#include "std.h"
struct AhrsFloatCmpl {
struct FloatRates gyro_bias;
struct FloatRates rate_correction;
struct FloatRates imu_rate;
struct FloatQuat ltp_to_imu_quat;
struct FloatRMat ltp_to_imu_rmat;
/* for gravity correction during coordinated turns */
float ltp_vel_norm;
bool_t ltp_vel_norm_valid;
bool_t correct_gravity;
bool_t heading_aligned;
/*
Holds float version of IMU alignement
in order to be able to run against the fixed point
version of the IMU
*/
struct FloatQuat body_to_imu_quat;
struct FloatRMat body_to_imu_rmat;
};
extern struct AhrsFloatCmpl ahrs_impl;
/** Update yaw based on a heading measurement.
* e.g. from GPS course
* @param heading Heading in body frame, radians (CW/north)
*/
void ahrs_update_heading(float heading);
/** Hard reset yaw to a heading.
* Doesn't affect the bias.
* Sets ahrs_impl.heading_aligned to TRUE.
* @param heading Heading in body frame, radians (CW/north)
*/
void ahrs_realign_heading(float heading);
#ifdef AHRS_UPDATE_FW_ESTIMATOR
extern float ins_roll_neutral;
extern float ins_pitch_neutral;
#endif
#endif /* AHRS_FLOAT_CMPL_RMAT */