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a9495e2cbb
Added attitude bias to AHRSSettings. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1855 ebee16cc-31ac-478f-84a7-5cbb03baadba
64 lines
1.4 KiB
C
64 lines
1.4 KiB
C
#ifndef AHRS_COMM_OBJECTS_H
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#define AHRS_COMM_OBJECTS_H
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#include "attitudeactual.h"
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#include "attituderaw.h"
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#include "ahrsstatus.h"
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#include "baroaltitude.h"
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#include "gpsposition.h"
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#include "positionactual.h"
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#include "homelocation.h"
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#include "ahrscalibration.h"
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#include "ahrssettings.h"
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/** union that will fit any UAVObject.
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*/
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typedef union {
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AttitudeRawData AttitudeRaw;
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AttitudeActualData AttitudeActual;
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AHRSCalibrationData AHRSCalibration;
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AhrsStatusData AhrsStatus;
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BaroAltitudeData BaroAltitude;
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GPSPositionData GPSPosition;
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PositionActualData PositionActual;
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HomeLocationData HomeLocation;
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AHRSSettingsData AHRSSettings;
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} __attribute__ ((packed)) AhrsSharedData;
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/** The number of UAVObjects we will be dealing with.
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*/
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#define MAX_AHRS_OBJECTS 9
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/** Our own version of a UAVObject.
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*/
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typedef struct {
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void *data;
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int size;
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uint8_t index;
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#ifndef IN_AHRS
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UAVObjHandle uavHandle;
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#endif
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} AhrsSharedObject;
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typedef AhrsSharedObject *AhrsObjHandle;
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/** Initialise the object mapping.
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It is important that this is called before any of the following functions.
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*/
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void AhrsInitHandles(void);
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/** the AHRS object related to the given index.
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Returns the AHRS object or NULL if not found
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*/
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AhrsObjHandle AhrsFromIndex(uint8_t index);
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#ifndef IN_AHRS
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/** Get the AHRS object associated with the UAVObject.
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Returns the AHRS object or NULL if not found
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*/
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AhrsObjHandle AhrsFromUAV(UAVObjHandle obj);
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#endif
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#endif //#ifndef AHRS_COMMS_OBJECTS_H
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