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https://github.com/paparazzi/paparazzi.git
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Tom van Dijk
56 lines
1.5 KiB
C
56 lines
1.5 KiB
C
/*
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* Copyright (C) Tom van Dijk
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*
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* This file is part of paparazzi
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*
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* paparazzi is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2, or (at your option)
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* any later version.
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*
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* paparazzi is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with paparazzi; see the file COPYING. If not, see
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* <http://www.gnu.org/licenses/>.
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*/
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/**
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* @file "modules/dragspeed/dragspeed.h"
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* @author Tom van Dijk
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* This module estimates the velocity of rotorcraft by measuring the drag force using the accelerometer.
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*/
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#ifndef DRAGSPEED_H
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#define DRAGSPEED_H
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#include "math/pprz_algebra_float.h"
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struct dragspeed_t
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{
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// Estimated velocity
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struct FloatVect2 vel;
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// Low-pass filter
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float filter;
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// Drag coefficient calibration
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struct FloatVect2 coeff;
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bool calibrate_coeff;
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// Zero calibration
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struct FloatVect2 zero;
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bool calibrate_zero;
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bool zero_calibrated;
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};
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extern struct dragspeed_t dragspeed;
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extern void dragspeed_init(void);
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// Calibration functions for use in flight plans
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extern bool dragspeed_calibrate_coeff(void);
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extern bool dragspeed_calibrate_zero(void);
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extern bool dragspeed_is_calibrating(void);
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#endif
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