Difference between revisions of "DevGuide/StateInterface"

From PaparazziUAV
Jump to navigation Jump to search
(dumped some info on the state interface)
 
 
(21 intermediate revisions by 3 users not shown)
Line 1: Line 1:
The idea is to create a general state interface that holds the most important vehicle states like attitude, position, speed, acceleration.
The general state interface holds all the most important vehicle states like position, velocity, attitude, etc.
It handles coordinate system and fixed-/floating-point conversion on the fly and only when needed.


=== state.h ===
'''See the [http://docs.paparazziuav.org/latest/group__state__interface.html generated documentation] for more details.'''
/* Earth Centered Earth Fixed in centimeters */
extern struct EcefCoor_i ecef_pos;


/* lon, lat in radians*1e7  */
The state interface was merged into the master branch with [https://github.com/paparazzi/paparazzi/commit/dbdbbaf6c265c2abeaafcb588e39d2fa6a33536f commit dbdbbaf].
/* alt in centimeters      */
extern struct LlaCoor_i lla_pos;


/* definition of the local (flat earth) coordinate system */
extern struct LtpDef_i ltp_def;
extern bool_t ltp_initialised;


/* North East Down local tangent plane */
[[Category:Software]] [[Category:Developer_Documentation]]
extern struct NedCoor_i ltp_pos;
extern struct NedCoor_i ltp_speed;
extern struct NedCoor_i ltp_accel;
 
/* East North Up local tangent plane */
extern struct EnuCoor_i enu_pos;
extern struct EnuCoor_i enu_speed;
extern struct EnuCoor_i enu_accel;
 
/* vehicle attitude */
extern struct Int32Quat  body_quat;
extern struct Int32Eulers body_euler;
extern struct Int32RMat  body_rmat;
extern struct Int32Rates  body_rate;
 
/* wind and airspeed*/
extern struct Int32Vect3 airspeed;
extern struct Int32Vect3 windspeed;

Latest revision as of 08:16, 3 August 2014

The general state interface holds all the most important vehicle states like position, velocity, attitude, etc. It handles coordinate system and fixed-/floating-point conversion on the fly and only when needed.

See the generated documentation for more details.

The state interface was merged into the master branch with commit dbdbbaf.

Retrieved from "http://wiki.paparazziuav.org/w/index.php?title=DevGuide/StateInterface&oldid=18880"