mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-12-04 12:24:11 +01:00
5c9b5f4a99
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1842 ebee16cc-31ac-478f-84a7-5cbb03baadba
148 lines
6.8 KiB
C
148 lines
6.8 KiB
C
/**
|
|
******************************************************************************
|
|
* @addtogroup UAVObjects OpenPilot UAVObjects
|
|
* @{
|
|
* @addtogroup AHRSCalibration AHRSCalibration
|
|
* @brief Contains the calibration settings for the @ref AHRSCommsModule
|
|
*
|
|
* Autogenerated files and functions for AHRSCalibration Object
|
|
|
|
* @{
|
|
*
|
|
* @file ahrscalibration.h
|
|
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
|
* @brief Implementation of the AHRSCalibration object. This file has been
|
|
* automatically generated by the UAVObjectGenerator.
|
|
*
|
|
* @note Object definition file: ahrscalibration.xml.
|
|
* This is an automatically generated file.
|
|
* DO NOT modify manually.
|
|
*
|
|
* @see The GNU Public License (GPL) Version 3
|
|
*
|
|
*****************************************************************************/
|
|
/*
|
|
* This program is free software; you can redistribute it and/or modify
|
|
* it under the terms of the GNU General Public License as published by
|
|
* the Free Software Foundation; either version 3 of the License, or
|
|
* (at your option) any later version.
|
|
*
|
|
* This program is distributed in the hope that it will be useful, but
|
|
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
|
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
|
* for more details.
|
|
*
|
|
* You should have received a copy of the GNU General Public License along
|
|
* with this program; if not, write to the Free Software Foundation, Inc.,
|
|
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
|
*/
|
|
|
|
#ifndef AHRSCALIBRATION_H
|
|
#define AHRSCALIBRATION_H
|
|
|
|
// Object constants
|
|
#define AHRSCALIBRATION_OBJID 1408636690U
|
|
#define AHRSCALIBRATION_NAME "AHRSCalibration"
|
|
#define AHRSCALIBRATION_METANAME "AHRSCalibrationMeta"
|
|
#define AHRSCALIBRATION_ISSINGLEINST 1
|
|
#define AHRSCALIBRATION_ISSETTINGS 1
|
|
#define AHRSCALIBRATION_NUMBYTES sizeof(AHRSCalibrationData)
|
|
|
|
// Object access macros
|
|
/**
|
|
* @function AHRSCalibrationGet(dataOut)
|
|
* @brief Populate a AHRSCalibrationData object
|
|
* @param[out] dataOut
|
|
*/
|
|
#define AHRSCalibrationGet(dataOut) UAVObjGetData(AHRSCalibrationHandle(), dataOut)
|
|
#define AHRSCalibrationSet(dataIn) UAVObjSetData(AHRSCalibrationHandle(), dataIn)
|
|
#define AHRSCalibrationInstGet(instId, dataOut) UAVObjGetInstanceData(AHRSCalibrationHandle(), instId, dataOut)
|
|
#define AHRSCalibrationInstSet(instId, dataIn) UAVObjSetInstanceData(AHRSCalibrationHandle(), instId, dataIn)
|
|
#define AHRSCalibrationConnectQueue(queue) UAVObjConnectQueue(AHRSCalibrationHandle(), queue, EV_MASK_ALL_UPDATES)
|
|
#define AHRSCalibrationConnectCallback(cb) UAVObjConnectCallback(AHRSCalibrationHandle(), cb, EV_MASK_ALL_UPDATES)
|
|
#define AHRSCalibrationCreateInstance() UAVObjCreateInstance(AHRSCalibrationHandle())
|
|
#define AHRSCalibrationRequestUpdate() UAVObjRequestUpdate(AHRSCalibrationHandle())
|
|
#define AHRSCalibrationRequestInstUpdate(instId) UAVObjRequestInstanceUpdate(AHRSCalibrationHandle(), instId)
|
|
#define AHRSCalibrationUpdated() UAVObjUpdated(AHRSCalibrationHandle())
|
|
#define AHRSCalibrationInstUpdated(instId) UAVObjUpdated(AHRSCalibrationHandle(), instId)
|
|
#define AHRSCalibrationGetMetadata(dataOut) UAVObjGetMetadata(AHRSCalibrationHandle(), dataOut)
|
|
#define AHRSCalibrationSetMetadata(dataIn) UAVObjSetMetadata(AHRSCalibrationHandle(), dataIn)
|
|
#define AHRSCalibrationReadOnly(dataIn) UAVObjReadOnly(AHRSCalibrationHandle())
|
|
|
|
// Object data
|
|
typedef struct {
|
|
uint8_t measure_var;
|
|
float accel_bias[3];
|
|
float accel_scale[3];
|
|
float accel_var[3];
|
|
float gyro_bias[3];
|
|
float gyro_scale[3];
|
|
float gyro_var[3];
|
|
float mag_bias[3];
|
|
float mag_scale[3];
|
|
float mag_var[3];
|
|
|
|
} __attribute__((packed)) AHRSCalibrationData;
|
|
|
|
// Field information
|
|
// Field measure_var information
|
|
/* Enumeration options for field measure_var */
|
|
typedef enum { AHRSCALIBRATION_MEASURE_VAR_SET=0, AHRSCALIBRATION_MEASURE_VAR_MEASURE=1 } AHRSCalibrationmeasure_varOptions;
|
|
// Field accel_bias information
|
|
/* Array element names for field accel_bias */
|
|
typedef enum { AHRSCALIBRATION_ACCEL_BIAS_X=0, AHRSCALIBRATION_ACCEL_BIAS_Y=1, AHRSCALIBRATION_ACCEL_BIAS_Z=2 } AHRSCalibrationaccel_biasElem;
|
|
/* Number of elements for field accel_bias */
|
|
#define AHRSCALIBRATION_ACCEL_BIAS_NUMELEM 3
|
|
// Field accel_scale information
|
|
/* Array element names for field accel_scale */
|
|
typedef enum { AHRSCALIBRATION_ACCEL_SCALE_X=0, AHRSCALIBRATION_ACCEL_SCALE_Y=1, AHRSCALIBRATION_ACCEL_SCALE_Z=2 } AHRSCalibrationaccel_scaleElem;
|
|
/* Number of elements for field accel_scale */
|
|
#define AHRSCALIBRATION_ACCEL_SCALE_NUMELEM 3
|
|
// Field accel_var information
|
|
/* Array element names for field accel_var */
|
|
typedef enum { AHRSCALIBRATION_ACCEL_VAR_X=0, AHRSCALIBRATION_ACCEL_VAR_Y=1, AHRSCALIBRATION_ACCEL_VAR_Z=2 } AHRSCalibrationaccel_varElem;
|
|
/* Number of elements for field accel_var */
|
|
#define AHRSCALIBRATION_ACCEL_VAR_NUMELEM 3
|
|
// Field gyro_bias information
|
|
/* Array element names for field gyro_bias */
|
|
typedef enum { AHRSCALIBRATION_GYRO_BIAS_X=0, AHRSCALIBRATION_GYRO_BIAS_Y=1, AHRSCALIBRATION_GYRO_BIAS_Z=2 } AHRSCalibrationgyro_biasElem;
|
|
/* Number of elements for field gyro_bias */
|
|
#define AHRSCALIBRATION_GYRO_BIAS_NUMELEM 3
|
|
// Field gyro_scale information
|
|
/* Array element names for field gyro_scale */
|
|
typedef enum { AHRSCALIBRATION_GYRO_SCALE_X=0, AHRSCALIBRATION_GYRO_SCALE_Y=1, AHRSCALIBRATION_GYRO_SCALE_Z=2 } AHRSCalibrationgyro_scaleElem;
|
|
/* Number of elements for field gyro_scale */
|
|
#define AHRSCALIBRATION_GYRO_SCALE_NUMELEM 3
|
|
// Field gyro_var information
|
|
/* Array element names for field gyro_var */
|
|
typedef enum { AHRSCALIBRATION_GYRO_VAR_X=0, AHRSCALIBRATION_GYRO_VAR_Y=1, AHRSCALIBRATION_GYRO_VAR_Z=2 } AHRSCalibrationgyro_varElem;
|
|
/* Number of elements for field gyro_var */
|
|
#define AHRSCALIBRATION_GYRO_VAR_NUMELEM 3
|
|
// Field mag_bias information
|
|
/* Array element names for field mag_bias */
|
|
typedef enum { AHRSCALIBRATION_MAG_BIAS_X=0, AHRSCALIBRATION_MAG_BIAS_Y=1, AHRSCALIBRATION_MAG_BIAS_Z=2 } AHRSCalibrationmag_biasElem;
|
|
/* Number of elements for field mag_bias */
|
|
#define AHRSCALIBRATION_MAG_BIAS_NUMELEM 3
|
|
// Field mag_scale information
|
|
/* Array element names for field mag_scale */
|
|
typedef enum { AHRSCALIBRATION_MAG_SCALE_X=0, AHRSCALIBRATION_MAG_SCALE_Y=1, AHRSCALIBRATION_MAG_SCALE_Z=2 } AHRSCalibrationmag_scaleElem;
|
|
/* Number of elements for field mag_scale */
|
|
#define AHRSCALIBRATION_MAG_SCALE_NUMELEM 3
|
|
// Field mag_var information
|
|
/* Array element names for field mag_var */
|
|
typedef enum { AHRSCALIBRATION_MAG_VAR_X=0, AHRSCALIBRATION_MAG_VAR_Y=1, AHRSCALIBRATION_MAG_VAR_Z=2 } AHRSCalibrationmag_varElem;
|
|
/* Number of elements for field mag_var */
|
|
#define AHRSCALIBRATION_MAG_VAR_NUMELEM 3
|
|
|
|
|
|
// Generic interface functions
|
|
int32_t AHRSCalibrationInitialize();
|
|
UAVObjHandle AHRSCalibrationHandle();
|
|
|
|
#endif // AHRSCALIBRATION_H
|
|
|
|
/**
|
|
* @}
|
|
* @}
|
|
*/
|