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LibrePilot/flight/AHRS/inc/insgps.h

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/**
******************************************************************************
*
* @file insgps.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Include file of the INSGPS exposed functionality.
*
* @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 INSGPS_H_
#define INSGPS_H_
// Exposed Function Prototypes
void INSGPSInit();
void INSPrediction(float gyro_data[3], float accel_data[3], float dT);
void INSSetGyroBias(float gyro_bias[3]);
void INSSetAccelVar(float accel_var[3]);
void INSSetGyroVar(float gyro_var[3]);
void INSSetMagNorth(float B[3]);
void INSSetMagVar(float scaled_mag_var[3]);
void MagCorrection(float mag_data[3]);
void FullCorrection(float mag_data[3], float Pos[3], float Vel[3], float BaroAlt);
void GndSpeedAndMagCorrection(float Speed, float Heading, float mag_data[3]);
// Nav structure containing current solution
struct NavStruct {
float Pos[3]; // Position in meters and relative to a local NED frame
float Vel[3]; // Velocity in meters and in NED
float q[4]; // unit quaternion rotation relative to NED
} Nav;
// constants
#define MagSensors 0x1C0
#define FullSensors 0x3FF
#define GndSpeedAndMagSensors 0x1D8
#endif /* EKF_H_ */