mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-06 16:58:48 +08:00
Antoine Drouin
56 lines
1.9 KiB
C
56 lines
1.9 KiB
C
/*
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* $Id$
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*
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* Copyright (C) 2008 Antoine Drouin
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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, write to
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* the Free Software Foundation, 59 Temple Place - Suite 330,
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* Boston, MA 02111-1307, USA.
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*
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*/
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#include "booz_inter_mcu.h"
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#include "booz_imu.h"
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#include "booz_ahrs.h"
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struct booz_inter_mcu_state inter_mcu_state;
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#ifdef BOOZ_FILTER_MCU
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//#define LP_GYROS
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void inter_mcu_fill_state() {
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#ifndef LP_GYROS
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inter_mcu_state.r_rates[AXIS_P] = imu_gyro[AXIS_P] * RATE_PI_S/M_PI;
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inter_mcu_state.r_rates[AXIS_Q] = imu_gyro[AXIS_Q] * RATE_PI_S/M_PI;
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inter_mcu_state.r_rates[AXIS_R] = imu_gyro[AXIS_R] * RATE_PI_S/M_PI;
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#else
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inter_mcu_state.r_rates[AXIS_P] = imu_gyro_lp[AXIS_P] * RATE_PI_S/M_PI;
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inter_mcu_state.r_rates[AXIS_Q] = imu_gyro_lp[AXIS_Q] * RATE_PI_S/M_PI;
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inter_mcu_state.r_rates[AXIS_R] = imu_gyro_lp[AXIS_R] * RATE_PI_S/M_PI;
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#endif
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inter_mcu_state.f_rates[AXIS_P] = booz_ahrs_p * RATE_PI_S/M_PI;
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inter_mcu_state.f_rates[AXIS_Q] = booz_ahrs_q * RATE_PI_S/M_PI;
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inter_mcu_state.f_rates[AXIS_R] = booz_ahrs_r * RATE_PI_S/M_PI;
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inter_mcu_state.f_eulers[AXIS_X] = booz_ahrs_phi * ANGLE_PI/M_PI;
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inter_mcu_state.f_eulers[AXIS_Y] = booz_ahrs_theta* ANGLE_PI/M_PI;
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inter_mcu_state.f_eulers[AXIS_Z] = booz_ahrs_psi * ANGLE_PI/M_PI;
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inter_mcu_state.status = booz_ahrs_status;
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}
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#endif
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