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LibrePilot/flight/AHRS/inc/ahrs.h

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/**
******************************************************************************
*
* @file ahrs.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Main AHRS header.
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef AHRS_H
#define AHRS_H
/* PIOS Includes */
#include <pios.h>
struct mag_sensor {
uint8_t id[4];
uint8_t updated;
struct {
int16_t axis[3];
} raw;
struct {
float axis[3];
} scaled;
struct {
float bias[3];
float scale[3];
float variance[3];
} calibration;
};
//! Contains the data from the accelerometer
struct accel_sensor {
struct {
uint16_t x;
uint16_t y;
uint16_t z;
} raw;
struct {
float x;
float y;
float z;
} filtered;
struct {
float scale[3][4];
float variance[3];
} calibration;
};
//! Contains the data from the gyro
struct gyro_sensor {
struct {
uint16_t x;
uint16_t y;
uint16_t z;
} raw;
struct {
float x;
float y;
float z;
} filtered;
struct {
float bias[3];
float scale[3];
float variance[3];
float tempcompfactor[3];
} calibration;
struct {
uint16_t xy;
uint16_t z;
} temp;
};
//! Conains the current estimate of the attitude
struct attitude_solution {
struct {
float q1;
float q2;
float q3;
float q4;
} quaternion;
};
//! Contains data from the altitude sensor
struct altitude_sensor {
float altitude;
bool updated;
};
//! Contains data from the GPS (via the SPI link)
struct gps_sensor {
float NED[3];
float heading;
float groundspeed;
float quality;
bool updated;
};
#endif /* AHRS_H */