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a1a3b0774f
find ./flight/AHRS/ \! \( -name '*~' -a -prune \) -type f | xargs -I{} bash -c 'echo {}; dos2unix {}; gnuindent -npro -kr -i8 -ts8 -sob -ss -ncs -cp1 -il0 {};'
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1707 ebee16cc-31ac-478f-84a7-5cbb03baadba
38 lines
802 B
C
38 lines
802 B
C
#include "inc/insgps.h"
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#include "stdio.h"
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#include "math.h"
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extern struct NavStruct Nav;
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extern float X[13];
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int main()
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{
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float gyro[3] = { 2.47, -0.25, 7.71 }, accel[3] = {
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-1.02, 0.70, -10.11}, dT = 0.04, mags[3] = {
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-50, -180, -376};
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float Pos[3] = { 0, 0, 0 }, Vel[3] = {
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0, 0, 0}, BaroAlt = 2.66, Speed = 4.4, Heading = 0;
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float yaw;
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int i, j;
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INSGPSInit();
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for (i = 0; i < 10000000; i++) {
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INSPrediction(gyro, accel, dT);
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//MagCorrection(mags);
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FullCorrection(mags, Pos, Vel, BaroAlt);
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yaw =
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atan2((float)2 *
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(Nav.q[0] * Nav.q[3] + Nav.q[1] * Nav.q[2]),
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(float)(1 -
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2 * (Nav.q[2] * Nav.q[2] +
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Nav.q[3] * Nav.q[3]))) * 180 / M_PI;
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printf("%0.3f ", yaw);
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for (j = 0; j < 13; j++)
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printf("%f ", X[j]);
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printf("\r\n");
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}
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return 0;
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}
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