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ahrs.h
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ahrs.h
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/*
* Copyright (C) 2008-2010 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.
*/
/**
* @file subsystems/ahrs.h
* Attitude and Heading Reference System interface.
*/
#ifndef AHRS_H
#define AHRS_H
#include "std.h"
#include "math/pprz_algebra_int.h"
#include "math/pprz_algebra_float.h"
#include "state.h"
#define AHRS_UNINIT 0
#define AHRS_RUNNING 1
/* underlying includes (needed for parameters) */
#ifdef AHRS_TYPE_H
#include AHRS_TYPE_H
#endif
/** Attitude and Heading Reference System state */
struct Ahrs {
uint8_t status; ///< status of the AHRS, AHRS_UNINIT or AHRS_RUNNING
};
/** global AHRS state */
extern struct Ahrs ahrs;
/** AHRS initialization. Called at startup.
* Needs to be implemented by each AHRS algorithm.
*/
extern void ahrs_init(void);
/** Aligns the AHRS. Called after ahrs_aligner has run to set initial attitude and biases.
* Must set the ahrs status to AHRS_RUNNING.
* Needs to be implemented by each AHRS algorithm.
*/
extern void ahrs_align(void);
/** Propagation. Usually integrates the gyro rates to angles.
* Reads the global #imu data struct.
* Does nothing if not implemented by specific AHRS algorithm.
* @param dt time difference since last propagation in seconds
*/
extern void ahrs_propagate(float dt);
/** Update AHRS state with accerleration measurements.
* Reads the global #imu data struct.
* Does nothing if not implemented by specific AHRS algorithm.
* @param dt time difference since last update in seconds
*/
extern void ahrs_update_accel(float dt);
/** Update AHRS state with magnetometer measurements.
* Reads the global #imu data struct.
* Does nothing if not implemented by specific AHRS algorithm.
* @param dt time difference since last update in seconds
*/
extern void ahrs_update_mag(float dt);
/** Update AHRS state with GPS measurements.
* Reads the global #gps data struct.
* Does nothing if not implemented by specific AHRS algorithm.
*/
extern void ahrs_update_gps(void);
#endif /* AHRS_H */