mirror of https://github.com/ArduPilot/ardupilot
149 lines
3.7 KiB
C
149 lines
3.7 KiB
C
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
|
|
/*
|
|
this defines data structures for public module interfaces in
|
|
ArduPilot.
|
|
|
|
These structures are designed to not depend on other headers inside
|
|
ArduPilot, although they do depend on the general ABI of the
|
|
platform, and thus can depend on compilation options to some extent
|
|
*/
|
|
|
|
#ifdef __cplusplus
|
|
extern "C" {
|
|
#endif
|
|
|
|
#include <stdint.h>
|
|
#include <stdbool.h>
|
|
|
|
#define AHRS_state_version 1
|
|
#define gyro_sample_version 1
|
|
#define accel_sample_version 1
|
|
|
|
enum AHRS_status {
|
|
AHRS_STATUS_INITIALISING = 0,
|
|
AHRS_STATUS_UNHEALTHY = 1,
|
|
AHRS_STATUS_HEALTHY = 2
|
|
};
|
|
|
|
/*
|
|
export the attitude and position of the vehicle.
|
|
*/
|
|
struct AHRS_state {
|
|
// version of this structure (AHRS_state_version)
|
|
uint32_t structure_version;
|
|
|
|
// time since boot in microseconds
|
|
uint64_t time_us;
|
|
|
|
// status of AHRS solution
|
|
enum AHRS_status status;
|
|
|
|
// quaternion attitude, first element is length scalar. Same
|
|
// conventions as AP_Math/quaternion.h
|
|
float quat[4];
|
|
|
|
// euler angles in radians. Order is roll, pitch, yaw
|
|
float eulers[3];
|
|
|
|
// global origin
|
|
struct {
|
|
// true when origin has been initialised with a global position
|
|
bool initialised;
|
|
|
|
// latitude and longitude in degrees * 10^7 (approx 1cm resolution)
|
|
int32_t latitude;
|
|
int32_t longitude;
|
|
|
|
// altitude AMSL in meters, positive up
|
|
float altitude;
|
|
} origin;
|
|
|
|
// global position
|
|
struct {
|
|
// true when we have a global position
|
|
bool available;
|
|
|
|
// latitude and longitude in degrees * 10^7 (approx 1cm resolution)
|
|
int32_t latitude;
|
|
int32_t longitude;
|
|
|
|
// altitude AMSL in meters, positive up
|
|
float altitude;
|
|
} position;
|
|
|
|
// NED relative position in meters. Relative to origin
|
|
float relative_position[3];
|
|
|
|
// current rotational rates in radians/second in body frame
|
|
// order is roll, pitch, yaw
|
|
float gyro_rate[3];
|
|
|
|
// current earth frame acceleration estimate, including
|
|
// gravitational forces, m/s/s order is NED
|
|
float accel_ef[3];
|
|
};
|
|
|
|
|
|
/*
|
|
export corrected gyro samples at hardware sampling rate
|
|
*/
|
|
struct gyro_sample {
|
|
// version of this structure (gyro_sample_version)
|
|
uint32_t structure_version;
|
|
|
|
// which gyro this is
|
|
uint8_t instance;
|
|
|
|
// time since boot in microseconds
|
|
uint64_t time_us;
|
|
|
|
// time associated with this sample (seconds)
|
|
float delta_time;
|
|
|
|
// body frame rates in radian/sec
|
|
float gyro[3];
|
|
};
|
|
|
|
/*
|
|
export corrected accel samples at hardware sampling rate
|
|
*/
|
|
struct accel_sample {
|
|
// version of this structure (accel_sample_version)
|
|
uint32_t structure_version;
|
|
|
|
// which accel this is
|
|
uint8_t instance;
|
|
|
|
// time since boot in microseconds
|
|
uint64_t time_us;
|
|
|
|
// time associated with this sample (seconds)
|
|
float delta_time;
|
|
|
|
// body frame rates in m/s/s
|
|
float accel[3];
|
|
};
|
|
|
|
/*
|
|
prototypes for hook functions
|
|
*/
|
|
typedef void (*ap_hook_setup_start_fn_t)(uint64_t);
|
|
void ap_hook_setup_start(uint64_t time_us);
|
|
|
|
typedef void (*ap_hook_setup_complete_fn_t)(uint64_t);
|
|
void ap_hook_setup_complete(uint64_t time_us);
|
|
|
|
typedef void (*ap_hook_AHRS_update_fn_t)(const struct AHRS_state *);
|
|
void ap_hook_AHRS_update(const struct AHRS_state *state);
|
|
|
|
typedef void (*ap_hook_gyro_sample_fn_t)(const struct gyro_sample *);
|
|
void ap_hook_gyro_sample(const struct gyro_sample *state);
|
|
|
|
typedef void (*ap_hook_accel_sample_fn_t)(const struct accel_sample *);
|
|
void ap_hook_accel_sample(const struct accel_sample *state);
|
|
|
|
#ifdef __cplusplus
|
|
}
|
|
#endif
|
|
|