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