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e0d63103ec
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1302 ebee16cc-31ac-478f-84a7-5cbb03baadba
31 lines
763 B
C
31 lines
763 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]={-1.02,0.70,-10.11}, dT=0.04, mags[3]={-50,-180,-376};
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float Pos[3]={0,0,0}, Vel[3]={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 = atan2( (float) 2 * (Nav.q[0] * Nav.q[3] + Nav.q[1] * Nav.q[2]),
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(float) (1 - 2 * (Nav.q[2] * Nav.q[2] + 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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