mirror of
https://bitbucket.org/librepilot/librepilot.git
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3c4def13cc
into NED reference frame and used in the INSGPS algorithm, although currently this information isn't propagated back to OP. Data structures related to the GPS position into the algorithm and the position estimate out will likely be in flux. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1334 ebee16cc-31ac-478f-84a7-5cbb03baadba
56 lines
2.0 KiB
C
56 lines
2.0 KiB
C
/**
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******************************************************************************
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* @addtogroup PIOS PIOS Core hardware abstraction layer
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* @{
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* @addtogroup PIOS_OPAHRS OPAHRS Functions
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* @{
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*
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* @file pios_opahrs.h
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief OpenPilot AHRS functions 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 PIOS_OPAHRS_H
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#define PIOS_OPAHRS_H
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#include "pios_opahrs_proto.h" /* opahrs message structs */
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enum opahrs_result {
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OPAHRS_RESULT_OK = 0,
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OPAHRS_RESULT_TIMEOUT,
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OPAHRS_RESULT_FAILED,
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};
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extern void PIOS_OPAHRS_Init(void);
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extern enum opahrs_result PIOS_OPAHRS_Sync(struct opahrs_msg_v1 *rsp);
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extern enum opahrs_result PIOS_OPAHRS_GetSerial(struct opahrs_msg_v1 *rsp);
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extern enum opahrs_result PIOS_OPAHRS_GetAttitude(struct opahrs_msg_v1 *rsp);
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extern enum opahrs_result PIOS_OPAHRS_GetAttitudeRaw(struct opahrs_msg_v1 *rsp);
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extern enum opahrs_result PIOS_OPAHRS_SetAltitudeActual(struct opahrs_msg_v1 *req);
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extern enum opahrs_result PIOS_OPAHRS_SetPositionActual(struct opahrs_msg_v1 *req);
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extern enum opahrs_result PIOS_OPAHRS_resync(void);
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#endif /* PIOS_OPAHRS_H */
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/**
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* @}
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* @}
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*/
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