mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-05 06:54:49 +08:00
Felix Ruess
95 lines
2.8 KiB
C
95 lines
2.8 KiB
C
/*
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* Copyright (C) 2008-2010 The Paparazzi Team
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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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#ifndef AHRS_H
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#define AHRS_H
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#include "std.h"
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#include "math/pprz_algebra_int.h"
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#include "math/pprz_algebra_float.h"
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#define AHRS_UNINIT 0
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#define AHRS_RUNNING 1
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/* underlying includes (needed for parameters) */
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#ifdef AHRS_TYPE_H
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#include AHRS_TYPE_H
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#endif
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struct Ahrs {
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struct Int32Quat ltp_to_imu_quat;
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struct Int32Eulers ltp_to_imu_euler;
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struct Int32RMat ltp_to_imu_rmat;
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struct Int32Rates imu_rate;
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struct Int32Quat ltp_to_body_quat;
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struct Int32Eulers ltp_to_body_euler;
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struct Int32RMat ltp_to_body_rmat;
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struct Int32Rates body_rate;
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uint8_t status;
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};
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struct AhrsFloat {
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struct FloatQuat ltp_to_imu_quat;
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struct FloatEulers ltp_to_imu_euler;
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struct FloatRMat ltp_to_imu_rmat;
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struct FloatRates imu_rate;
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struct FloatRates imu_rate_previous;
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struct FloatRates imu_rate_d;
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struct FloatQuat ltp_to_body_quat;
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struct FloatEulers ltp_to_body_euler;
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struct FloatRMat ltp_to_body_rmat;
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struct FloatRates body_rate;
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struct FloatRates body_rate_d;
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uint8_t status;
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};
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extern struct Ahrs ahrs;
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extern struct AhrsFloat ahrs_float;
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extern float ahrs_mag_offset;
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#define AHRS_FLOAT_OF_INT32() { \
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QUAT_FLOAT_OF_BFP(ahrs_float.ltp_to_body_quat, ahrs.ltp_to_body_quat); \
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EULERS_FLOAT_OF_BFP(ahrs_float.ltp_to_body_euler, ahrs.ltp_to_body_euler); \
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RATES_FLOAT_OF_BFP(ahrs_float.body_rate, ahrs.body_rate); \
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}
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#define AHRS_INT_OF_FLOAT() { \
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QUAT_BFP_OF_REAL(ahrs.ltp_to_body_quat, ahrs_float.ltp_to_body_quat); \
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EULERS_BFP_OF_REAL(ahrs.ltp_to_body_euler, ahrs_float.ltp_to_body_euler); \
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RMAT_BFP_OF_REAL(ahrs.ltp_to_body_rmat, ahrs_float.ltp_to_body_rmat); \
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RATES_BFP_OF_REAL(ahrs.body_rate, ahrs_float.body_rate); \
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}
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extern void ahrs_init(void);
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extern void ahrs_align(void);
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extern void ahrs_propagate(void);
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extern void ahrs_update_accel(void);
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extern void ahrs_update_mag(void);
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#endif /* AHRS_H */
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