Difference between revisions of "DevGuide/StateInterface"
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(dumped some info on the state interface) |
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=== state.h === | === state.h === | ||
<pre> | |||
/* Earth Centered Earth Fixed in centimeters */ | /* Earth Centered Earth Fixed in centimeters */ | ||
extern struct EcefCoor_i ecef_pos; | extern struct EcefCoor_i ecef_pos; | ||
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extern struct Int32Vect3 airspeed; | extern struct Int32Vect3 airspeed; | ||
extern struct Int32Vect3 windspeed; | extern struct Int32Vect3 windspeed; | ||
</pre> | |||
Revision as of 12:34, 12 January 2011
The idea is to create a general state interface that holds the most important vehicle states like attitude, position, speed, acceleration.
state.h
/* Earth Centered Earth Fixed in centimeters */ extern struct EcefCoor_i ecef_pos; /* lon, lat in radians*1e7 */ /* 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 */ 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;