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6f1e7b4e41
bias correction. This is useful for stabilization to get rid of the gyro bias. Making it an option is important for calibration. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2189 ebee16cc-31ac-478f-84a7-5cbb03baadba
108 lines
4.4 KiB
C
108 lines
4.4 KiB
C
/**
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******************************************************************************
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* @addtogroup UAVObjects OpenPilot UAVObjects
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* @{
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* @addtogroup AHRSSettings AHRSSettings
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* @brief Settings for the @ref AHRSCommsModule to control the algorithm and what is updated
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*
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* Autogenerated files and functions for AHRSSettings Object
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* @{
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*
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* @file ahrssettings.h
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief Implementation of the AHRSSettings object. This file has been
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* automatically generated by the UAVObjectGenerator.
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*
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* @note Object definition file: ahrssettings.xml.
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* This is an automatically generated file.
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* DO NOT modify manually.
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*
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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 AHRSSETTINGS_H
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#define AHRSSETTINGS_H
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// Object constants
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#define AHRSSETTINGS_OBJID 3741078856U
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#define AHRSSETTINGS_NAME "AHRSSettings"
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#define AHRSSETTINGS_METANAME "AHRSSettingsMeta"
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#define AHRSSETTINGS_ISSINGLEINST 1
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#define AHRSSETTINGS_ISSETTINGS 1
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#define AHRSSETTINGS_NUMBYTES sizeof(AHRSSettingsData)
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// Object access macros
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/**
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* @function AHRSSettingsGet(dataOut)
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* @brief Populate a AHRSSettingsData object
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* @param[out] dataOut
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*/
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#define AHRSSettingsGet(dataOut) UAVObjGetData(AHRSSettingsHandle(), dataOut)
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#define AHRSSettingsSet(dataIn) UAVObjSetData(AHRSSettingsHandle(), dataIn)
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#define AHRSSettingsInstGet(instId, dataOut) UAVObjGetInstanceData(AHRSSettingsHandle(), instId, dataOut)
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#define AHRSSettingsInstSet(instId, dataIn) UAVObjSetInstanceData(AHRSSettingsHandle(), instId, dataIn)
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#define AHRSSettingsConnectQueue(queue) UAVObjConnectQueue(AHRSSettingsHandle(), queue, EV_MASK_ALL_UPDATES)
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#define AHRSSettingsConnectCallback(cb) UAVObjConnectCallback(AHRSSettingsHandle(), cb, EV_MASK_ALL_UPDATES)
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#define AHRSSettingsCreateInstance() UAVObjCreateInstance(AHRSSettingsHandle())
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#define AHRSSettingsRequestUpdate() UAVObjRequestUpdate(AHRSSettingsHandle())
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#define AHRSSettingsRequestInstUpdate(instId) UAVObjRequestInstanceUpdate(AHRSSettingsHandle(), instId)
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#define AHRSSettingsUpdated() UAVObjUpdated(AHRSSettingsHandle())
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#define AHRSSettingsInstUpdated(instId) UAVObjUpdated(AHRSSettingsHandle(), instId)
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#define AHRSSettingsGetMetadata(dataOut) UAVObjGetMetadata(AHRSSettingsHandle(), dataOut)
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#define AHRSSettingsSetMetadata(dataIn) UAVObjSetMetadata(AHRSSettingsHandle(), dataIn)
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#define AHRSSettingsReadOnly(dataIn) UAVObjReadOnly(AHRSSettingsHandle())
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// Object data
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typedef struct {
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uint8_t Algorithm;
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uint8_t Downsampling;
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uint8_t UpdatePeriod;
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uint8_t BiasCorrectedRaw;
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float YawBias;
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float PitchBias;
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float RollBias;
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} __attribute__((packed)) AHRSSettingsData;
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// Field information
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// Field Algorithm information
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/* Enumeration options for field Algorithm */
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typedef enum { AHRSSETTINGS_ALGORITHM_SIMPLE=0, AHRSSETTINGS_ALGORITHM_INSGPS_INDOOR_NOMAG=1, AHRSSETTINGS_ALGORITHM_INSGPS_INDOOR=2, AHRSSETTINGS_ALGORITHM_INSGPS_OUTDOOR=3 } AHRSSettingsAlgorithmOptions;
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// Field Downsampling information
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// Field UpdatePeriod information
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// Field BiasCorrectedRaw information
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/* Enumeration options for field BiasCorrectedRaw */
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typedef enum { AHRSSETTINGS_BIASCORRECTEDRAW_TRUE=0, AHRSSETTINGS_BIASCORRECTEDRAW_FALSE=1 } AHRSSettingsBiasCorrectedRawOptions;
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// Field YawBias information
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// Field PitchBias information
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// Field RollBias information
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// Generic interface functions
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int32_t AHRSSettingsInitialize();
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UAVObjHandle AHRSSettingsHandle();
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#endif // AHRSSETTINGS_H
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/**
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* @}
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* @}
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*/
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