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[ahrs] remove old ahrs structre (execpt status)

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Gautier Hattenberger
2012-08-21 16:26:14 +02:00
parent 5d75792b69
commit 2e097ad2f4
2 changed files with 7 additions and 65 deletions
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sw/airborne/subsystems/ahrs.c
-3
View File
@@ -22,7 +22,4 @@
#include "subsystems/ahrs.h" #include "subsystems/ahrs.h"
struct Ahrs ahrs; struct Ahrs ahrs;
struct AhrsFloat ahrs_float;
float ahrs_mag_offset;
sw/airborne/subsystems/ahrs.h
+7 -62
View File
@@ -39,73 +39,13 @@
#include AHRS_TYPE_H #include AHRS_TYPE_H
#endif #endif
/** Attitude and Heading Reference System state (fixed point version) */ /** Attitude and Heading Reference System state */
struct Ahrs { struct Ahrs {
struct Int32Quat ltp_to_imu_quat; ///< Rotation from LocalTangentPlane to IMU frame as unit quaternion
struct Int32Eulers ltp_to_imu_euler; ///< Rotation from LocalTangentPlane to IMU frame as Euler angles
struct Int32RMat ltp_to_imu_rmat; ///< Rotation from LocalTangentPlane to IMU frame as Rotation Matrix
struct Int32Rates imu_rate; ///< Rotational velocity in IMU frame
struct Int32Quat ltp_to_body_quat; ///< Rotation from LocalTangentPlane to body frame as unit quaternion
struct Int32Eulers ltp_to_body_euler; ///< Rotation from LocalTangentPlane to body frame as Euler angles
struct Int32RMat ltp_to_body_rmat; ///< Rotation from LocalTangentPlane to body frame as Rotation Matrix
struct Int32Rates body_rate; ///< Rotational velocity in body frame
uint8_t status; ///< status of the AHRS, AHRS_UNINIT or AHRS_RUNNING uint8_t status; ///< status of the AHRS, AHRS_UNINIT or AHRS_RUNNING
}; };
/** Attitude and Heading Reference System state (floating point version) */ /** global AHRS state */
struct AhrsFloat {
struct FloatQuat ltp_to_imu_quat; ///< Rotation from LocalTangentPlane to IMU frame as unit quaternion
struct FloatEulers ltp_to_imu_euler; ///< Rotation from LocalTangentPlane to IMU frame as Euler angles
struct FloatRMat ltp_to_imu_rmat; ///< Rotation from LocalTangentPlane to IMU frame as Rotation Matrix
struct FloatRates imu_rate; ///< Rotational velocity in IMU frame
struct FloatRates imu_rate_previous;
struct FloatRates imu_rate_d;
struct FloatQuat ltp_to_body_quat; ///< Rotation from LocalTangentPlane to body frame as unit quaternion
struct FloatEulers ltp_to_body_euler; ///< Rotation from LocalTangentPlane to body frame as Euler angles
struct FloatRMat ltp_to_body_rmat; ///< Rotation from LocalTangentPlane to body frame as Rotation Matrix
struct FloatRates body_rate; ///< Rotational velocity in body frame
struct FloatRates body_rate_d;
// always use status from fixed point ahrs struct for now
//uint8_t status;
};
/** global AHRS state (fixed point version) */
extern struct Ahrs ahrs; extern struct Ahrs ahrs;
/** global AHRS state (floating point version) */
extern struct AhrsFloat ahrs_float;
extern float ahrs_mag_offset;
#define AHRS_FLOAT_OF_INT32() { \
QUAT_FLOAT_OF_BFP(ahrs_float.ltp_to_body_quat, ahrs.ltp_to_body_quat); \
EULERS_FLOAT_OF_BFP(ahrs_float.ltp_to_body_euler, ahrs.ltp_to_body_euler); \
RATES_FLOAT_OF_BFP(ahrs_float.body_rate, ahrs.body_rate); \
}
#define AHRS_INT_OF_FLOAT() { \
QUAT_BFP_OF_REAL(ahrs.ltp_to_body_quat, ahrs_float.ltp_to_body_quat); \
EULERS_BFP_OF_REAL(ahrs.ltp_to_body_euler, ahrs_float.ltp_to_body_euler); \
RMAT_BFP_OF_REAL(ahrs.ltp_to_body_rmat, ahrs_float.ltp_to_body_rmat); \
RATES_BFP_OF_REAL(ahrs.body_rate, ahrs_float.body_rate); \
}
#define AHRS_IMU_INT_OF_FLOAT() { \
QUAT_BFP_OF_REAL(ahrs.ltp_to_imu_quat, ahrs_float.ltp_to_imu_quat); \
EULERS_BFP_OF_REAL(ahrs.ltp_to_imu_euler, ahrs_float.ltp_to_imu_euler); \
RMAT_BFP_OF_REAL(ahrs.ltp_to_imu_rmat, ahrs_float.ltp_to_imu_rmat); \
RATES_BFP_OF_REAL(ahrs.imu_rate, ahrs_float.imu_rate); \
}
/* copy attitude to state interface */
#define AHRS_BODY_TO_STATE() { \
stateSetNedToBodyQuat_i(&ahrs.ltp_to_body_quat); \
stateSetBodyRates_i(&ahrs.body_rate); \
}
/** AHRS initialization. Called at startup. /** AHRS initialization. Called at startup.
* Needs to be implemented by each AHRS algorithm. * Needs to be implemented by each AHRS algorithm.
@@ -135,6 +75,11 @@ extern void ahrs_update_accel(void);
* Needs to be implemented by each AHRS algorithm. * Needs to be implemented by each AHRS algorithm.
*/ */
extern void ahrs_update_mag(void); extern void ahrs_update_mag(void);
/** Update AHRS state with GPS measurements.
* Reads the global #gps data struct.
* Needs to be implemented by each AHRS algorithm.
*/
extern void ahrs_update_gps(void); extern void ahrs_update_gps(void);
#endif /* AHRS_H */ #endif /* AHRS_H */