DevGuide/StateInterface

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;