mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Felix Ruess
2dd069e80a
AHRS API/Interface refactor
- each AHRS implementation has it's own function names, to basically make it possible to run multiple at the same time
- input data passed as pointer arguments
- wrappers that subscribe to ABI messages (gyro, accel, mag) which call the actual implementation
- makes it easier to run the actual algorithm e.g. for testing without ABI
- body_to_imu quaternion is also set via ABI
- IMU measurements are published via ABI from the gyro/accel/mag callbacks from main for now
- each ahrs implementation has an `is_aligned` bool for now...
- MLKF: function to only update heading from mag (default now, define AHRS_MAG_UPDATE_ALL_AXES to update all axes as previously)
Merging now as it is already useful.
Still TODO:
- publish GPS via ABI as well (and get rid of global ahrs_update_gps)
- update all IMU implementations to publish ABI messages directly
- pimp or get rid of ahrs_register_impl (to actually handle multiple AHRS at the same time)