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[paparazzi-commits] [6296] changed ahrs_cmpl_euler.[ch] to ahrs_int_cmpl
|
From: |
antoine drouin |
|
Subject: |
[paparazzi-commits] [6296] changed ahrs_cmpl_euler.[ch] to ahrs_int_cmpl_euler.[ch] |
|
Date: |
Thu, 28 Oct 2010 10:44:35 +0000 |
Revision: 6296
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=6296
Author: poine
Date: 2010-10-28 10:44:34 +0000 (Thu, 28 Oct 2010)
Log Message:
-----------
changed ahrs_cmpl_euler.[ch] to ahrs_int_cmpl_euler.[ch]
Modified Paths:
--------------
paparazzi3/trunk/conf/autopilot/subsystems/rotorcraft/ahrs_cmpl.makefile
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/telemetry.h
Added Paths:
-----------
paparazzi3/trunk/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_euler.c
paparazzi3/trunk/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_euler.h
Removed Paths:
-------------
paparazzi3/trunk/sw/airborne/subsystems/ahrs/ahrs_cmpl_euler.c
paparazzi3/trunk/sw/airborne/subsystems/ahrs/ahrs_cmpl_euler.h
Modified:
paparazzi3/trunk/conf/autopilot/subsystems/rotorcraft/ahrs_cmpl.makefile
===================================================================
--- paparazzi3/trunk/conf/autopilot/subsystems/rotorcraft/ahrs_cmpl.makefile
2010-10-28 09:24:52 UTC (rev 6295)
+++ paparazzi3/trunk/conf/autopilot/subsystems/rotorcraft/ahrs_cmpl.makefile
2010-10-28 10:44:34 UTC (rev 6296)
@@ -1,13 +1,13 @@
#
-# Complementary filter for attitude estimation
+# Fixed point complementary filter using euler angles for attitude estimation
#
ap.CFLAGS += -DUSE_AHRS_CMPL -DAHRS_ALIGNER_LED=$(AHRS_ALIGNER_LED)
-DAHRS_FIXED_POINT
ap.srcs += $(SRC_SUBSYSTEMS)/ahrs.c
ap.srcs += $(SRC_SUBSYSTEMS)/ahrs/ahrs_aligner.c
-ap.srcs += $(SRC_SUBSYSTEMS)/ahrs/ahrs_cmpl_euler.c
+ap.srcs += $(SRC_SUBSYSTEMS)/ahrs/ahrs_int_cmpl_euler.c
sim.CFLAGS += -DUSE_AHRS_CMPL -DAHRS_ALIGNER_LED=3 -DAHRS_FIXED_POINT
sim.srcs += $(SRC_SUBSYSTEMS)/ahrs.c
sim.srcs += $(SRC_SUBSYSTEMS)/ahrs/ahrs_aligner.c
-sim.srcs += $(SRC_SUBSYSTEMS)/ahrs/ahrs_cmpl_euler.c
+sim.srcs += $(SRC_SUBSYSTEMS)/ahrs/ahrs_int_cmpl_euler.c
Modified: paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/telemetry.h
===================================================================
--- paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/telemetry.h
2010-10-28 09:24:52 UTC (rev 6295)
+++ paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/telemetry.h
2010-10-28 10:44:34 UTC (rev 6296)
@@ -325,24 +325,24 @@
#ifdef USE_AHRS_CMPL
-#include "subsystems/ahrs/ahrs_cmpl_euler.h"
-#define PERIODIC_SEND_FILTER(_chan) { \
- DOWNLINK_SEND_FILTER(_chan, \
- &ahrs.ltp_to_imu_euler.phi, \
- &ahrs.ltp_to_imu_euler.theta, \
- &ahrs.ltp_to_imu_euler.psi, \
- &face_measure.phi, \
- &face_measure.theta, \
- &face_measure.psi, \
- &face_corrected.phi, \
- &face_corrected.theta, \
- &face_corrected.psi, \
- &face_residual.phi, \
- &face_residual.theta, \
- &face_residual.psi, \
- &face_gyro_bias.p, \
- &face_gyro_bias.q, \
- &face_gyro_bias.r); \
+#include "subsystems/ahrs/ahrs_int_cmpl_euler.h"
+#define PERIODIC_SEND_FILTER(_chan) { \
+ DOWNLINK_SEND_FILTER(_chan,
\
+ &ahrs.ltp_to_imu_euler.phi, \
+ &ahrs.ltp_to_imu_euler.theta, \
+ &ahrs.ltp_to_imu_euler.psi, \
+ &face_measure.phi, \
+ &face_measure.theta, \
+ &face_measure.psi, \
+ &face_corrected.phi, \
+ &face_corrected.theta, \
+ &face_corrected.psi, \
+ &face_residual.phi, \
+ &face_residual.theta, \
+ &face_residual.psi, \
+ &face_gyro_bias.p, \
+ &face_gyro_bias.q, \
+ &face_gyro_bias.r); \
}
#else
#define PERIODIC_SEND_FILTER(_chan) {}
Deleted: paparazzi3/trunk/sw/airborne/subsystems/ahrs/ahrs_cmpl_euler.c
===================================================================
--- paparazzi3/trunk/sw/airborne/subsystems/ahrs/ahrs_cmpl_euler.c
2010-10-28 09:24:52 UTC (rev 6295)
+++ paparazzi3/trunk/sw/airborne/subsystems/ahrs/ahrs_cmpl_euler.c
2010-10-28 10:44:34 UTC (rev 6296)
@@ -1,188 +0,0 @@
-/*
- * $Id: $
- *
- * Copyright (C) 2008-2009 Antoine Drouin <address@hidden>
- *
- * This file is part of paparazzi.
- *
- * paparazzi 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 2, or (at your option)
- * any later version.
- *
- * paparazzi 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 paparazzi; see the file COPYING. If not, write to
- * the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
- */
-
-#include "ahrs_cmpl_euler.h"
-
-#include "subsystems/imu.h"
-#include "subsystems/ahrs/ahrs_aligner.h"
-
-#include "airframe.h"
-#include "math/pprz_trig_int.h"
-#include "math/pprz_algebra_int.h"
-
-
-struct Int32Rates face_gyro_bias;
-struct Int32Eulers face_measure;
-struct Int32Eulers face_residual;
-struct Int32Eulers face_uncorrected;
-struct Int32Eulers face_corrected;
-
-struct Int32Eulers measurement;
-
-int32_t face_reinj_1;
-
-void ahrs_init(void) {
- ahrs.status = AHRS_UNINIT;
- INT_EULERS_ZERO(ahrs.ltp_to_body_euler);
- INT_EULERS_ZERO(ahrs.ltp_to_imu_euler);
- INT32_QUAT_ZERO(ahrs.ltp_to_body_quat);
- INT32_QUAT_ZERO(ahrs.ltp_to_imu_quat);
- INT_RATES_ZERO(ahrs.body_rate);
- INT_RATES_ZERO(ahrs.imu_rate);
- INT_RATES_ZERO(face_gyro_bias);
- face_reinj_1 = FACE_REINJ_1;
-
- INT_EULERS_ZERO(face_uncorrected);
-
-#ifdef IMU_MAG_OFFSET
- ahrs_mag_offset = IMU_MAG_OFFSET;
-#else
- ahrs_mag_offset = 0.;
-#endif
-}
-
-void ahrs_align(void) {
-
- RATES_COPY( face_gyro_bias, ahrs_aligner.lp_gyro);
- ahrs.status = AHRS_RUNNING;
-
-}
-
-
-#define F_UPDATE 512
-
-#define PI_INTEG_EULER (INT32_ANGLE_PI * F_UPDATE)
-#define TWO_PI_INTEG_EULER (INT32_ANGLE_2_PI * F_UPDATE)
-#define INTEG_EULER_NORMALIZE(_a) { \
- while (_a > PI_INTEG_EULER) _a -= TWO_PI_INTEG_EULER; \
- while (_a < -PI_INTEG_EULER) _a += TWO_PI_INTEG_EULER; \
- }
-
-
-/*
- *
- * fc = 1/(2*pi*tau)
- *
- * alpha = dt / ( tau + dt )
- *
- *
- * y(i) = alpha x(i) + (1-alpha) y(i-1)
- * or
- * y(i) = y(i-1) + alpha * (x(i) - y(i-1))
- *
- *
- */
-
-void ahrs_propagate(void) {
-
- /* unbias gyro */
- struct Int32Rates uf_rate;
- RATES_DIFF(uf_rate, imu.gyro, face_gyro_bias);
- /* low pass rate */
- RATES_ADD(ahrs.imu_rate, uf_rate);
- RATES_SDIV(ahrs.imu_rate, ahrs.imu_rate, 2);
-
- /* integrate eulers */
- struct Int32Eulers euler_dot;
- INT32_EULERS_DOT_OF_RATES(euler_dot, ahrs.ltp_to_imu_euler, ahrs.imu_rate);
- EULERS_ADD(face_corrected, euler_dot);
-
- /* low pass measurement */
- EULERS_ADD(face_measure, measurement);
- EULERS_SDIV(face_measure, face_measure, 2);
- /* compute residual */
- EULERS_DIFF(face_residual, face_measure, face_corrected);
- INTEG_EULER_NORMALIZE(face_residual.psi);
-
- struct Int32Eulers correction;
- /* compute a correction */
- EULERS_SDIV(correction, face_residual, face_reinj_1);
- /* correct estimation */
- EULERS_ADD(face_corrected, correction);
- INTEG_EULER_NORMALIZE(face_corrected.psi);
-
-
- /* Compute LTP to IMU eulers */
- EULERS_SDIV(ahrs.ltp_to_imu_euler, face_corrected, F_UPDATE);
- /* Compute LTP to IMU quaternion */
- INT32_QUAT_OF_EULERS(ahrs.ltp_to_imu_quat, ahrs.ltp_to_imu_euler);
- /* Compute LTP to IMU rotation matrix */
- INT32_RMAT_OF_EULERS(ahrs.ltp_to_imu_rmat, ahrs.ltp_to_imu_euler);
-
- /* Compute LTP to BODY quaternion */
- INT32_QUAT_COMP_INV(ahrs.ltp_to_body_quat, ahrs.ltp_to_imu_quat,
imu.body_to_imu_quat);
- /* Compute LTP to BODY rotation matrix */
- INT32_RMAT_COMP_INV(ahrs.ltp_to_body_rmat, ahrs.ltp_to_imu_rmat,
imu.body_to_imu_rmat);
- /* compute LTP to BODY eulers */
- INT32_EULERS_OF_RMAT(ahrs.ltp_to_body_euler, ahrs.ltp_to_body_rmat);
- /* compute body rates */
- INT32_RMAT_TRANSP_RATEMULT(ahrs.body_rate, imu.body_to_imu_rmat,
ahrs.imu_rate);
-
-}
-
-void ahrs_update_accel(void) {
-
- /* build a measurement assuming constant acceleration ?!! */
- INT32_ATAN2(measurement.phi, -imu.accel.y, -imu.accel.z);
- int32_t cphi;
- PPRZ_ITRIG_COS(cphi, measurement.phi);
- int32_t cphi_ax = -INT_MULT_RSHIFT(cphi, imu.accel.x, INT32_TRIG_FRAC);
- INT32_ATAN2(measurement.theta, -cphi_ax, -imu.accel.z);
- measurement.phi *= F_UPDATE;
- measurement.theta *= F_UPDATE;
-
-}
-
-/* measure psi assuming magnetic vector is in earth plan (md = 0) */
-void ahrs_update_mag(void) {
-
- int32_t sphi;
- PPRZ_ITRIG_SIN(sphi, ahrs.ltp_to_imu_euler.phi);
- int32_t cphi;
- PPRZ_ITRIG_COS(cphi, ahrs.ltp_to_imu_euler.phi);
- int32_t stheta;
- PPRZ_ITRIG_SIN(stheta, ahrs.ltp_to_imu_euler.theta);
- int32_t ctheta;
- PPRZ_ITRIG_COS(ctheta, ahrs.ltp_to_imu_euler.theta);
-
- int32_t sphi_stheta = (sphi*stheta)>>INT32_TRIG_FRAC;
- int32_t cphi_stheta = (cphi*stheta)>>INT32_TRIG_FRAC;
- //int32_t sphi_ctheta = (sphi*ctheta)>>INT32_TRIG_FRAC;
- //int32_t cphi_ctheta = (cphi*ctheta)>>INT32_TRIG_FRAC;
-
- const int32_t mn =
- ctheta * imu.mag.x +
- sphi_stheta * imu.mag.y +
- cphi_stheta * imu.mag.z;
- const int32_t me =
- 0 * imu.mag.x +
- cphi * imu.mag.y +
- -sphi * imu.mag.z;
- //const int32_t md =
- // -stheta * imu.mag.x +
- // sphi_ctheta * imu.mag.y +
- // cphi_ctheta * imu.mag.z;
- float m_psi = -atan2(me, mn);
- measurement.psi = ((m_psi -
RadOfDeg(ahrs_mag_offset))*(float)(1<<(INT32_ANGLE_FRAC))*F_UPDATE);
-
-}
Deleted: paparazzi3/trunk/sw/airborne/subsystems/ahrs/ahrs_cmpl_euler.h
===================================================================
--- paparazzi3/trunk/sw/airborne/subsystems/ahrs/ahrs_cmpl_euler.h
2010-10-28 09:24:52 UTC (rev 6295)
+++ paparazzi3/trunk/sw/airborne/subsystems/ahrs/ahrs_cmpl_euler.h
2010-10-28 10:44:34 UTC (rev 6296)
@@ -1,40 +0,0 @@
-/*
- * $Id$
- *
- * Copyright (C) 2008-2009 Antoine Drouin <address@hidden>
- *
- * This file is part of paparazzi.
- *
- * paparazzi 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 2, or (at your option)
- * any later version.
- *
- * paparazzi 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 paparazzi; see the file COPYING. If not, write to
- * the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
- */
-
-#ifndef AHRS_CMPL_EULER_H
-#define AHRS_CMPL_EULER_H
-
-#include "subsystems/ahrs.h"
-#include "std.h"
-#include "math/pprz_algebra_int.h"
-
-extern struct Int32Rates face_gyro_bias;
-extern struct Int32Eulers face_measure;
-extern struct Int32Eulers face_residual;
-extern struct Int32Eulers face_uncorrected;
-extern struct Int32Eulers face_corrected;
-
-extern int32_t face_reinj_1;
-
-
-#endif /* AHRS_CMPL_EULER_H */
Copied: paparazzi3/trunk/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_euler.c
(from rev 6275, paparazzi3/trunk/sw/airborne/subsystems/ahrs/ahrs_cmpl_euler.c)
===================================================================
--- paparazzi3/trunk/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_euler.c
(rev 0)
+++ paparazzi3/trunk/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_euler.c
2010-10-28 10:44:34 UTC (rev 6296)
@@ -0,0 +1,188 @@
+/*
+ * $Id: $
+ *
+ * Copyright (C) 2008-2010 The Paparazzi Team
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi 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 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi 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 paparazzi; see the file COPYING. If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ */
+
+#include "ahrs_int_cmpl_euler.h"
+
+#include "subsystems/imu.h"
+#include "subsystems/ahrs/ahrs_aligner.h"
+
+#include "airframe.h"
+#include "math/pprz_trig_int.h"
+#include "math/pprz_algebra_int.h"
+
+
+struct Int32Rates face_gyro_bias;
+struct Int32Eulers face_measure;
+struct Int32Eulers face_residual;
+struct Int32Eulers face_uncorrected;
+struct Int32Eulers face_corrected;
+
+struct Int32Eulers measurement;
+
+int32_t face_reinj_1;
+
+void ahrs_init(void) {
+ ahrs.status = AHRS_UNINIT;
+ INT_EULERS_ZERO(ahrs.ltp_to_body_euler);
+ INT_EULERS_ZERO(ahrs.ltp_to_imu_euler);
+ INT32_QUAT_ZERO(ahrs.ltp_to_body_quat);
+ INT32_QUAT_ZERO(ahrs.ltp_to_imu_quat);
+ INT_RATES_ZERO(ahrs.body_rate);
+ INT_RATES_ZERO(ahrs.imu_rate);
+ INT_RATES_ZERO(face_gyro_bias);
+ face_reinj_1 = FACE_REINJ_1;
+
+ INT_EULERS_ZERO(face_uncorrected);
+
+#ifdef IMU_MAG_OFFSET
+ ahrs_mag_offset = IMU_MAG_OFFSET;
+#else
+ ahrs_mag_offset = 0.;
+#endif
+}
+
+void ahrs_align(void) {
+
+ RATES_COPY( face_gyro_bias, ahrs_aligner.lp_gyro);
+ ahrs.status = AHRS_RUNNING;
+
+}
+
+
+#define F_UPDATE 512
+
+#define PI_INTEG_EULER (INT32_ANGLE_PI * F_UPDATE)
+#define TWO_PI_INTEG_EULER (INT32_ANGLE_2_PI * F_UPDATE)
+#define INTEG_EULER_NORMALIZE(_a) { \
+ while (_a > PI_INTEG_EULER) _a -= TWO_PI_INTEG_EULER; \
+ while (_a < -PI_INTEG_EULER) _a += TWO_PI_INTEG_EULER; \
+ }
+
+
+/*
+ *
+ * fc = 1/(2*pi*tau)
+ *
+ * alpha = dt / ( tau + dt )
+ *
+ *
+ * y(i) = alpha x(i) + (1-alpha) y(i-1)
+ * or
+ * y(i) = y(i-1) + alpha * (x(i) - y(i-1))
+ *
+ *
+ */
+
+void ahrs_propagate(void) {
+
+ /* unbias gyro */
+ struct Int32Rates uf_rate;
+ RATES_DIFF(uf_rate, imu.gyro, face_gyro_bias);
+ /* low pass rate */
+ RATES_ADD(ahrs.imu_rate, uf_rate);
+ RATES_SDIV(ahrs.imu_rate, ahrs.imu_rate, 2);
+
+ /* integrate eulers */
+ struct Int32Eulers euler_dot;
+ INT32_EULERS_DOT_OF_RATES(euler_dot, ahrs.ltp_to_imu_euler, ahrs.imu_rate);
+ EULERS_ADD(face_corrected, euler_dot);
+
+ /* low pass measurement */
+ EULERS_ADD(face_measure, measurement);
+ EULERS_SDIV(face_measure, face_measure, 2);
+ /* compute residual */
+ EULERS_DIFF(face_residual, face_measure, face_corrected);
+ INTEG_EULER_NORMALIZE(face_residual.psi);
+
+ struct Int32Eulers correction;
+ /* compute a correction */
+ EULERS_SDIV(correction, face_residual, face_reinj_1);
+ /* correct estimation */
+ EULERS_ADD(face_corrected, correction);
+ INTEG_EULER_NORMALIZE(face_corrected.psi);
+
+
+ /* Compute LTP to IMU eulers */
+ EULERS_SDIV(ahrs.ltp_to_imu_euler, face_corrected, F_UPDATE);
+ /* Compute LTP to IMU quaternion */
+ INT32_QUAT_OF_EULERS(ahrs.ltp_to_imu_quat, ahrs.ltp_to_imu_euler);
+ /* Compute LTP to IMU rotation matrix */
+ INT32_RMAT_OF_EULERS(ahrs.ltp_to_imu_rmat, ahrs.ltp_to_imu_euler);
+
+ /* Compute LTP to BODY quaternion */
+ INT32_QUAT_COMP_INV(ahrs.ltp_to_body_quat, ahrs.ltp_to_imu_quat,
imu.body_to_imu_quat);
+ /* Compute LTP to BODY rotation matrix */
+ INT32_RMAT_COMP_INV(ahrs.ltp_to_body_rmat, ahrs.ltp_to_imu_rmat,
imu.body_to_imu_rmat);
+ /* compute LTP to BODY eulers */
+ INT32_EULERS_OF_RMAT(ahrs.ltp_to_body_euler, ahrs.ltp_to_body_rmat);
+ /* compute body rates */
+ INT32_RMAT_TRANSP_RATEMULT(ahrs.body_rate, imu.body_to_imu_rmat,
ahrs.imu_rate);
+
+}
+
+void ahrs_update_accel(void) {
+
+ /* build a measurement assuming constant acceleration ?!! */
+ INT32_ATAN2(measurement.phi, -imu.accel.y, -imu.accel.z);
+ int32_t cphi;
+ PPRZ_ITRIG_COS(cphi, measurement.phi);
+ int32_t cphi_ax = -INT_MULT_RSHIFT(cphi, imu.accel.x, INT32_TRIG_FRAC);
+ INT32_ATAN2(measurement.theta, -cphi_ax, -imu.accel.z);
+ measurement.phi *= F_UPDATE;
+ measurement.theta *= F_UPDATE;
+
+}
+
+/* measure psi assuming magnetic vector is in earth plan (md = 0) */
+void ahrs_update_mag(void) {
+
+ int32_t sphi;
+ PPRZ_ITRIG_SIN(sphi, ahrs.ltp_to_imu_euler.phi);
+ int32_t cphi;
+ PPRZ_ITRIG_COS(cphi, ahrs.ltp_to_imu_euler.phi);
+ int32_t stheta;
+ PPRZ_ITRIG_SIN(stheta, ahrs.ltp_to_imu_euler.theta);
+ int32_t ctheta;
+ PPRZ_ITRIG_COS(ctheta, ahrs.ltp_to_imu_euler.theta);
+
+ int32_t sphi_stheta = (sphi*stheta)>>INT32_TRIG_FRAC;
+ int32_t cphi_stheta = (cphi*stheta)>>INT32_TRIG_FRAC;
+ //int32_t sphi_ctheta = (sphi*ctheta)>>INT32_TRIG_FRAC;
+ //int32_t cphi_ctheta = (cphi*ctheta)>>INT32_TRIG_FRAC;
+
+ const int32_t mn =
+ ctheta * imu.mag.x +
+ sphi_stheta * imu.mag.y +
+ cphi_stheta * imu.mag.z;
+ const int32_t me =
+ 0 * imu.mag.x +
+ cphi * imu.mag.y +
+ -sphi * imu.mag.z;
+ //const int32_t md =
+ // -stheta * imu.mag.x +
+ // sphi_ctheta * imu.mag.y +
+ // cphi_ctheta * imu.mag.z;
+ float m_psi = -atan2(me, mn);
+ measurement.psi = ((m_psi -
RadOfDeg(ahrs_mag_offset))*(float)(1<<(INT32_ANGLE_FRAC))*F_UPDATE);
+
+}
Copied: paparazzi3/trunk/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_euler.h
(from rev 6275, paparazzi3/trunk/sw/airborne/subsystems/ahrs/ahrs_cmpl_euler.h)
===================================================================
--- paparazzi3/trunk/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_euler.h
(rev 0)
+++ paparazzi3/trunk/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_euler.h
2010-10-28 10:44:34 UTC (rev 6296)
@@ -0,0 +1,40 @@
+/*
+ * $Id$
+ *
+ * Copyright (C) 2008-2009 Antoine Drouin <address@hidden>
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi 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 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi 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 paparazzi; see the file COPYING. If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ */
+
+#ifndef AHRS_CMPL_EULER_H
+#define AHRS_CMPL_EULER_H
+
+#include "subsystems/ahrs.h"
+#include "std.h"
+#include "math/pprz_algebra_int.h"
+
+extern struct Int32Rates face_gyro_bias;
+extern struct Int32Eulers face_measure;
+extern struct Int32Eulers face_residual;
+extern struct Int32Eulers face_uncorrected;
+extern struct Int32Eulers face_corrected;
+
+extern int32_t face_reinj_1;
+
+
+#endif /* AHRS_CMPL_EULER_H */
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- [paparazzi-commits] [6296] changed ahrs_cmpl_euler.[ch] to ahrs_int_cmpl_euler.[ch],
antoine drouin <=