mirror of
https://github.com/ArduPilot/ardupilot.git
synced 2026-10-08 02:57:16 +08:00
Andrew Tridgell
bd00beaf99
this allows for external modules to be called at defined hook locations in ArduPilot. The initial example is a module that consumes the AHRS state, but this can be generalised to a wide variety of hooks
101 lines
2.5 KiB
C
101 lines
2.5 KiB
C
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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this defines data structures for public module interfaces in
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ArduPilot.
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These structures are designed to not depend on other headers inside
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ArduPilot, although they do depend on the general ABI of the
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platform, and thus can depend on compilation options to some extent
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*/
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#ifdef __cplusplus
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extern "C" {
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#endif
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#include <stdint.h>
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#include <stdbool.h>
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#define AHRS_state_version 1
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enum AHRS_status {
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AHRS_STATUS_INITIALISING = 0,
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AHRS_STATUS_UNHEALTHY = 1,
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AHRS_STATUS_HEALTHY = 2
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};
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/*
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export the attitude and position of the vehicle.
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*/
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struct AHRS_state {
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// version of this structure (AHRS_state_version)
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uint32_t structure_version;
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// time since boot in microseconds
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uint64_t time_us;
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// status of AHRS solution
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enum AHRS_status status;
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// quaternion attitude, first element is length scalar. Same
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// conventions as AP_Math/quaternion.h
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float quat[4];
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// euler angles in radians. Order is roll, pitch, yaw
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float eulers[3];
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// global origin
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struct {
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// true when origin has been initialised with a global position
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bool initialised;
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// latitude and longitude in degrees * 10^7 (approx 1cm resolution)
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int32_t latitude;
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int32_t longitude;
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// altitude AMSL in meters, positive up
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float altitude;
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} origin;
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// global position
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struct {
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// true when we have a global position
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bool available;
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// latitude and longitude in degrees * 10^7 (approx 1cm resolution)
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int32_t latitude;
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int32_t longitude;
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// altitude AMSL in meters, positive up
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float altitude;
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} position;
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// NED relative position in meters. Relative to origin
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float relative_position[3];
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// current rotational rates in radians/second in body frame
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// order is roll, pitch, yaw
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float gyro_rate[3];
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// current earth frame acceleration estimate, including
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// gravitational forces, m/s/s order is NED
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float accel_ef[3];
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};
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/*
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prototypes for hook functions
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*/
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typedef void (*hook_setup_start_fn_t)(uint64_t);
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void hook_setup_start(uint64_t time_us);
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typedef void (*hook_setup_complete_fn_t)(uint64_t);
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void hook_setup_complete(uint64_t time_us);
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typedef void (*hook_AHRS_update_fn_t)(const struct AHRS_state *);
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void hook_AHRS_update(const struct AHRS_state *state);
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#ifdef __cplusplus
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}
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#endif
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