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[nps] ahrs bypass feeds state interface

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This commit is contained in:
Gautier Hattenberger
2012-08-23 15:40:58 +02:00
parent 50a74d9125
commit 1ba1d24295
1 changed files with 7 additions and 6 deletions
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sw/simulator/nps/nps_autopilot_rotorcraft.c
+7 -6
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@@ -30,6 +30,7 @@
#include "baro_board.h"
#include "subsystems/electrical.h"
#include "mcu_periph/sys_time.h"
#include "state.h"
#include "actuators/supervision.h"
@@ -109,12 +110,12 @@ void nps_autopilot_run_step(double time __attribute__ ((unused))) {
#include "math/pprz_algebra.h"
void sim_overwrite_ahrs(void) {
EULERS_BFP_OF_REAL(ahrs.ltp_to_body_euler, fdm.ltp_to_body_eulers);
struct Int32Quat quat;
QUAT_BFP_OF_REAL(quat, fdm.ltp_to_body_quat);
stateSetNedToBodyQuat_f(&quat);
QUAT_BFP_OF_REAL(ahrs.ltp_to_body_quat, fdm.ltp_to_body_quat);
RATES_BFP_OF_REAL(ahrs.body_rate, fdm.body_ecef_rotvel);
INT32_RMAT_OF_QUAT(ahrs.ltp_to_body_rmat, ahrs.ltp_to_body_quat);
struct Int32Rates rates;
RATES_BFP_OF_REAL(rates, fdm.body_ecef_rotvel);
stateSetBodyRates_f(&rates);
}