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C++ VECT3_ASSIGN函数代码示例

本文整理汇总了C++中VECT3_ASSIGN函数的典型用法代码示例。如果您正苦于以下问题：C++ VECT3_ASSIGN函数的具体用法？C++ VECT3_ASSIGN怎么用？C++ VECT3_ASSIGN使用的例子？那么, 这里精选的函数代码示例或许可以为您提供帮助。


在下文中一共展示了VECT3_ASSIGN函数的15个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的C++代码示例。

示例1: imu_init

void 
imu_init(void)
{
    /* initialises neutrals */
    RATES_ASSIGN(booz_imu.gyro_neutral,  IMU_NEUTRAL_GYRO_P,  IMU_NEUTRAL_GYRO_Q,  IMU_NEUTRAL_GYRO_R);
    VECT3_ASSIGN(booz_imu.accel_neutral, IMU_NEUTRAL_ACCEL_X, IMU_NEUTRAL_ACCEL_Y, IMU_NEUTRAL_ACCEL_Z);
    VECT3_ASSIGN(booz_imu.mag_neutral,   IMU_NEUTRAL_MAG_X,   IMU_NEUTRAL_MAG_Y,   IMU_NEUTRAL_MAG_Z);

    /* initialise IMU alignment */
    imu_adjust_alignment(IMU_ALIGNMENT_BODY_TO_IMU_PHI, IMU_ALIGNMENT_BODY_TO_IMU_THETA, IMU_ALIGNMENT_BODY_TO_IMU_PSI);

    imu_spi_selected = SPI_NONE;
    do_max1168_read = FALSE;

    /* setup pins for SSP (SCK, MISO, MOSI) */
    PINSEL1 |= SSP_PINSEL1_SCK  | SSP_PINSEL1_MISO | SSP_PINSEL1_MOSI;

    /* setup SSP */
    SSPCR0 = SSPCR0_VAL;;
    SSPCR1 = SSPCR1_VAL;
    SSPCPSR = 0x02;

    /* initialize interrupt vector */
    VICIntSelect &= ~VIC_BIT( VIC_SPI1 );  /* SPI1 selected as IRQ */
    VICIntEnable = VIC_BIT( VIC_SPI1 );    /* enable it            */
    _VIC_CNTL(SSP_VIC_SLOT) = VIC_ENABLE | VIC_SPI1;
    _VIC_ADDR(SSP_VIC_SLOT) = (uint32_t)SSP_ISR;      /* address of the ISR   */

    max1168_init();
    micromag_init();
}
开发者ID:robotang，项目名称:wasp，代码行数:31，代码来源:imu_booz_hw.c

示例2: stabilization_attitude_init

void stabilization_attitude_init(void) {

    stabilization_attitude_ref_init();


    VECT3_ASSIGN(stabilization_gains.p,
                 STABILIZATION_ATTITUDE_PHI_PGAIN,
                 STABILIZATION_ATTITUDE_THETA_PGAIN,
                 STABILIZATION_ATTITUDE_PSI_PGAIN);

    VECT3_ASSIGN(stabilization_gains.d,
                 STABILIZATION_ATTITUDE_PHI_DGAIN,
                 STABILIZATION_ATTITUDE_THETA_DGAIN,
                 STABILIZATION_ATTITUDE_PSI_DGAIN);

    VECT3_ASSIGN(stabilization_gains.i,
                 STABILIZATION_ATTITUDE_PHI_IGAIN,
                 STABILIZATION_ATTITUDE_THETA_IGAIN,
                 STABILIZATION_ATTITUDE_PSI_IGAIN);

    VECT3_ASSIGN(stabilization_gains.dd,
                 STABILIZATION_ATTITUDE_PHI_DDGAIN,
                 STABILIZATION_ATTITUDE_THETA_DDGAIN,
                 STABILIZATION_ATTITUDE_PSI_DDGAIN);


    INT_EULERS_ZERO( stabilization_att_sum_err );

}
开发者ID:rdeandrade，项目名称:paparazzi，代码行数:29，代码来源:stabilization_attitude_euler_int.c

示例3: traj_sineX_quad_update

static void traj_sineX_quad_update(void)
{

  const float om = RadOfDeg(10);

  if (aos.time > (M_PI / om)) {
    const float a = 20;

    struct FloatVect3 jerk;
    VECT3_ASSIGN(jerk           , -a * om * om * om * cos(om * aos.time), 0, 0);
    VECT3_ASSIGN(aos.ltp_accel  , -a * om * om   * sin(om * aos.time), 0, 0);
    VECT3_ASSIGN(aos.ltp_vel    ,  a * om      * cos(om * aos.time), 0, 0);
    VECT3_ASSIGN(aos.ltp_pos    ,  a         * sin(om * aos.time), 0, 0);

    // this is based on differential flatness of the quad
    EULERS_ASSIGN(aos.ltp_to_imu_euler,    0., atan2(aos.ltp_accel.x, 9.81), 0.);
    float_quat_of_eulers(&aos.ltp_to_imu_quat, &aos.ltp_to_imu_euler);
    const struct FloatEulers e_dot = {
      0.,
      9.81 * jerk.x / ((9.81 * 9.81) + (aos.ltp_accel.x * aos.ltp_accel.x)),
      0.
    };
    FLOAT_RATES_OF_EULER_DOT(aos.imu_rates, aos.ltp_to_imu_euler, e_dot);
  }
}
开发者ID:EwoudSmeur，项目名称:paparazzi，代码行数:25，代码来源:ahrs_on_synth.c

示例4: stabilization_attitude_init

void stabilization_attitude_init(void) {

  stabilization_attitude_ref_init();

  VECT3_ASSIGN(stabilization_gains.p,
               STABILIZATION_ATTITUDE_PHI_PGAIN,
               STABILIZATION_ATTITUDE_THETA_PGAIN,
               STABILIZATION_ATTITUDE_PSI_PGAIN);

  VECT3_ASSIGN(stabilization_gains.d,
               STABILIZATION_ATTITUDE_PHI_DGAIN,
               STABILIZATION_ATTITUDE_THETA_DGAIN,
               STABILIZATION_ATTITUDE_PSI_DGAIN);

  VECT3_ASSIGN(stabilization_gains.i,
               STABILIZATION_ATTITUDE_PHI_IGAIN,
               STABILIZATION_ATTITUDE_THETA_IGAIN,
               STABILIZATION_ATTITUDE_PSI_IGAIN);

  VECT3_ASSIGN(stabilization_gains.dd,
               STABILIZATION_ATTITUDE_PHI_DDGAIN,
               STABILIZATION_ATTITUDE_THETA_DDGAIN,
               STABILIZATION_ATTITUDE_PSI_DDGAIN);

  FLOAT_EULERS_ZERO( stabilization_att_sum_err );

#if PERIODIC_TELEMETRY
  register_periodic_telemetry(DefaultPeriodic, "STAB_ATTITUDE", send_att);
  register_periodic_telemetry(DefaultPeriodic, "STAB_ATTITUDE_REF", send_att_ref);
#endif
}
开发者ID:Henricus-Basien，项目名称:paparazzi，代码行数:31，代码来源:stabilization_attitude_euler_float.c

示例5: imu_navgo_event

void imu_navgo_event( void )
{

  // If the itg3200 I2C transaction has succeeded: convert the data
  itg3200_event();
  if (itg3200_data_available) {
    RATES_COPY(imu.gyro_unscaled, itg3200_data);
    itg3200_data_available = FALSE;
    gyr_valid = TRUE;
  }

  // If the adxl345 I2C transaction has succeeded: convert the data
  adxl345_event();
  if (adxl345_data_available) {
    VECT3_ASSIGN(imu.accel_unscaled, adxl345_data.y, -adxl345_data.x, adxl345_data.z);
    adxl345_data_available = FALSE;
    acc_valid = TRUE;
  }

  // HMC58XX event task
  hmc58xx_event();
  if (hmc58xx_data_available) {
    VECT3_ASSIGN(imu.mag_unscaled, -hmc58xx_data.x, -hmc58xx_data.y, hmc58xx_data.z);
    hmc58xx_data_available = FALSE;
    mag_valid = TRUE;
  }

}
开发者ID:AshuLara，项目名称:lisa，代码行数:28，代码来源:imu_navgo.c

示例6: imu_init

void imu_init(void) {

  /* initialises neutrals */
  RATES_ASSIGN(imu.gyro_neutral,  IMU_GYRO_P_NEUTRAL,  IMU_GYRO_Q_NEUTRAL,  IMU_GYRO_R_NEUTRAL);
  VECT3_ASSIGN(imu.accel_neutral, IMU_ACCEL_X_NEUTRAL, IMU_ACCEL_Y_NEUTRAL, IMU_ACCEL_Z_NEUTRAL);
  VECT3_ASSIGN(imu.mag_neutral,   IMU_MAG_X_NEUTRAL,   IMU_MAG_Y_NEUTRAL,   IMU_MAG_Z_NEUTRAL);

  /*
    Compute quaternion and rotation matrix
    for conversions between body and imu frame
  */
#if defined IMU_BODY_TO_IMU_PHI && defined IMU_BODY_TO_IMU_THETA & defined  IMU_BODY_TO_IMU_PSI
  struct Int32Eulers body_to_imu_eulers =
    { ANGLE_BFP_OF_REAL(IMU_BODY_TO_IMU_PHI),
      ANGLE_BFP_OF_REAL(IMU_BODY_TO_IMU_THETA),
      ANGLE_BFP_OF_REAL(IMU_BODY_TO_IMU_PSI) };
  INT32_QUAT_OF_EULERS(imu.body_to_imu_quat, body_to_imu_eulers);
  INT32_QUAT_NORMALISE(imu.body_to_imu_quat);
  INT32_RMAT_OF_EULERS(imu.body_to_imu_rmat, body_to_imu_eulers);
#else
  INT32_QUAT_ZERO(imu.body_to_imu_quat);
  INT32_RMAT_ZERO(imu.body_to_imu_rmat);
#endif

  imu_impl_init();
}
开发者ID:FW-M，项目名称:paparazzi，代码行数:26，代码来源:imu.c

示例7: imu_init

void imu_init(void) {

  /* initialises neutrals */
  RATES_ASSIGN(imu.gyro_neutral,  IMU_GYRO_P_NEUTRAL,  IMU_GYRO_Q_NEUTRAL,  IMU_GYRO_R_NEUTRAL);

  VECT3_ASSIGN(imu.accel_neutral, IMU_ACCEL_X_NEUTRAL, IMU_ACCEL_Y_NEUTRAL, IMU_ACCEL_Z_NEUTRAL);

#if defined IMU_MAG_X_NEUTRAL && defined IMU_MAG_Y_NEUTRAL && defined IMU_MAG_Z_NEUTRAL
  VECT3_ASSIGN(imu.mag_neutral,   IMU_MAG_X_NEUTRAL,   IMU_MAG_Y_NEUTRAL,   IMU_MAG_Z_NEUTRAL);
#else
#if USE_MAGNETOMETER
#pragma message "Info: Magnetomter neutrals are set to zero!"
#endif
  INT_VECT3_ZERO(imu.mag_neutral);
#endif

  /*
    Compute quaternion and rotation matrix
    for conversions between body and imu frame
  */
  struct Int32Eulers body_to_imu_eulers =
    { ANGLE_BFP_OF_REAL(IMU_BODY_TO_IMU_PHI),
      ANGLE_BFP_OF_REAL(IMU_BODY_TO_IMU_THETA),
      ANGLE_BFP_OF_REAL(IMU_BODY_TO_IMU_PSI) };
  INT32_QUAT_OF_EULERS(imu.body_to_imu_quat, body_to_imu_eulers);
  INT32_QUAT_NORMALIZE(imu.body_to_imu_quat);
  INT32_RMAT_OF_EULERS(imu.body_to_imu_rmat, body_to_imu_eulers);

  imu_impl_init();
}
开发者ID:glason，项目名称:paparazzi，代码行数:30，代码来源:imu.c

示例8: imu_bebop_event

/**
 * Handle all the events of the Navstik IMU components.
 * When there is data available convert it to the correct axis and save it in the imu structure.
 */
void imu_bebop_event(void)
{
  /* MPU-60x0 event taks */
  mpu60x0_i2c_event(&imu_bebop.mpu);

  if (imu_bebop.mpu.data_available) {
    /* default orientation of the MPU is upside down sor corrigate this here */
    RATES_ASSIGN(imu.gyro_unscaled, imu_bebop.mpu.data_rates.rates.p, -imu_bebop.mpu.data_rates.rates.q, -imu_bebop.mpu.data_rates.rates.r);
    VECT3_ASSIGN(imu.accel_unscaled, imu_bebop.mpu.data_accel.vect.x, -imu_bebop.mpu.data_accel.vect.y, -imu_bebop.mpu.data_accel.vect.z);

    imu_bebop.mpu.data_available = FALSE;
    imu_bebop.gyro_valid = TRUE;
    imu_bebop.accel_valid = TRUE;
  }

  /* AKM8963 event task */
  ak8963_event(&imu_bebop.ak);

  if (imu_bebop.ak.data_available) {
    //32760 to -32760
    VECT3_ASSIGN(imu.mag_unscaled, -imu_bebop.ak.data.vect.y, imu_bebop.ak.data.vect.x, imu_bebop.ak.data.vect.z);

    imu_bebop.ak.data_available = FALSE;
    imu_bebop.mag_valid = TRUE;
  }
}
开发者ID:KISSMonX，项目名称:paparazzi，代码行数:30，代码来源:imu_bebop.c

示例9: traj_coordinated_circle_update

static void traj_coordinated_circle_update(void)
{
  const float speed = 15;  // m/s
  const float R = 100;     // radius in m
  float omega = speed / R;
  // tan phi = v^2/Rg
  float phi = atan2(speed * speed, R * 9.81);
  if (aos.time > 2.*M_PI / omega) {
    VECT3_ASSIGN(aos.ltp_pos,                R * cos(omega * aos.time),              R * sin(omega * aos.time), 0.);
    VECT3_ASSIGN(aos.ltp_vel,         -omega * R * sin(omega * aos.time),        omega * R * cos(omega * aos.time), 0.);
    VECT3_ASSIGN(aos.ltp_accel, -omega * omega * R * cos(omega * aos.time), -omega * omega * R * sin(omega * aos.time), 0.);


    //  float psi = atan2(aos.ltp_pos.y, aos.ltp_pos.x);
    float psi = M_PI_2 + omega * aos.time;
    while (psi > M_PI) { psi -= 2.*M_PI; }
    EULERS_ASSIGN(aos.ltp_to_imu_euler,   phi, 0, psi);
    float_quat_of_eulers(&aos.ltp_to_imu_quat, &aos.ltp_to_imu_euler);

    struct FloatEulers e_dot;
    EULERS_ASSIGN(e_dot, 0., 0., omega);
    float_rates_of_euler_dot(&aos.imu_rates, &aos.ltp_to_imu_euler, &e_dot);
  }

}
开发者ID:EwoudSmeur，项目名称:paparazzi，代码行数:25，代码来源:ahrs_on_synth.c

示例10: imu_periodic

void imu_periodic( void )
{
  // Start reading the latest gyroscope data
  if (!imu_krooz.mpu.config.initialized)
    mpu60x0_i2c_start_configure(&imu_krooz.mpu);

  if (!imu_krooz.hmc.initialized)
    hmc58xx_start_configure(&imu_krooz.hmc);

  if (imu_krooz.meas_nb) {
    RATES_ASSIGN(imu.gyro_unscaled, imu_krooz.rates_sum.q / imu_krooz.meas_nb, imu_krooz.rates_sum.p / imu_krooz.meas_nb, imu_krooz.rates_sum.r / imu_krooz.meas_nb);
#if KROOZ_USE_MEDIAN_FILTER
    UpdateMedianFilterRatesInt(median_gyro, imu.gyro_unscaled);
#endif
    VECT3_ASSIGN(imu.accel_unscaled, imu_krooz.accel_sum.y / imu_krooz.meas_nb, imu_krooz.accel_sum.x / imu_krooz.meas_nb, imu_krooz.accel_sum.z / imu_krooz.meas_nb);
#if KROOZ_USE_MEDIAN_FILTER
    UpdateMedianFilterVect3Int(median_accel, imu.accel_unscaled);
#endif
    RATES_ASSIGN(imu_krooz.rates_sum, 0, 0, 0);
    VECT3_ASSIGN(imu_krooz.accel_sum, 0, 0, 0);
    imu_krooz.meas_nb = 0;

    imu_krooz.gyr_valid = TRUE;
    imu_krooz.acc_valid = TRUE;
  }

  //RunOnceEvery(10,imu_krooz_downlink_raw());
}
开发者ID:OpenUAS，项目名称:backup-files-quad，代码行数:28，代码来源:imu_krooz.c

示例11: stabilization_attitude_init

void stabilization_attitude_init(void) {

  stabilization_attitude_ref_init();

  for (int i = 0; i < STABILIZATION_ATTITUDE_GAIN_NB; i++) {
    VECT3_ASSIGN(stabilization_gains[i].p, phi_pgain[i], theta_pgain[i], psi_pgain[i]);
    VECT3_ASSIGN(stabilization_gains[i].d, phi_dgain[i], theta_dgain[i], psi_dgain[i]);
    VECT3_ASSIGN(stabilization_gains[i].i, phi_igain[i], theta_igain[i], psi_igain[i]);
    VECT3_ASSIGN(stabilization_gains[i].dd, phi_ddgain[i], theta_ddgain[i], psi_ddgain[i]);
    VECT3_ASSIGN(stabilization_gains[i].rates_d, phi_dgain_d[i], theta_dgain_d[i], psi_dgain_d[i]);
#ifdef HAS_SURFACE_COMMANDS
    VECT3_ASSIGN(stabilization_gains[i].surface_p, phi_pgain_surface[i], theta_pgain_surface[i], psi_pgain_surface[i]);
    VECT3_ASSIGN(stabilization_gains[i].surface_d, phi_dgain_surface[i], theta_dgain_surface[i], psi_dgain_surface[i]);
    VECT3_ASSIGN(stabilization_gains[i].surface_i, phi_igain_surface[i], theta_igain_surface[i], psi_igain_surface[i]);
    VECT3_ASSIGN(stabilization_gains[i].surface_dd, phi_ddgain_surface[i], theta_ddgain_surface[i], psi_ddgain_surface[i]);
#endif
  }

  FLOAT_QUAT_ZERO( stabilization_att_sum_err_quat );
  FLOAT_EULERS_ZERO( stabilization_att_sum_err );
  FLOAT_RATES_ZERO( last_body_rate );
  FLOAT_RATES_ZERO( body_rate_d );

#if PERIODIC_TELEMETRY
  register_periodic_telemetry(DefaultPeriodic, "STAB_ATTITUDE", send_att);
  register_periodic_telemetry(DefaultPeriodic, "STAB_ATTITUDE_REF", send_att_ref);
#endif
}
开发者ID:HeinrichChristian，项目名称:paparazzi，代码行数:28，代码来源:stabilization_attitude_quat_float.c

示例12: stabilization_attitude_init

void stabilization_attitude_init(void)
{
    /* setpoints */
    FLOAT_EULERS_ZERO(stab_att_sp_euler);
    float_quat_identity(&stab_att_sp_quat);
    /* reference */
    attitude_ref_quat_float_init(&att_ref_quat_f);
    attitude_ref_quat_float_schedule(&att_ref_quat_f, STABILIZATION_ATTITUDE_GAIN_IDX_DEFAULT);

    for (int i = 0; i < STABILIZATION_ATTITUDE_GAIN_NB; i++) {
        VECT3_ASSIGN(stabilization_gains[i].p, phi_pgain[i], theta_pgain[i], psi_pgain[i]);
        VECT3_ASSIGN(stabilization_gains[i].d, phi_dgain[i], theta_dgain[i], psi_dgain[i]);
        VECT3_ASSIGN(stabilization_gains[i].i, phi_igain[i], theta_igain[i], psi_igain[i]);
        VECT3_ASSIGN(stabilization_gains[i].dd, phi_ddgain[i], theta_ddgain[i], psi_ddgain[i]);
        VECT3_ASSIGN(stabilization_gains[i].rates_d, phi_dgain_d[i], theta_dgain_d[i], psi_dgain_d[i]);
#ifdef HAS_SURFACE_COMMANDS
        VECT3_ASSIGN(stabilization_gains[i].surface_p, phi_pgain_surface[i], theta_pgain_surface[i], psi_pgain_surface[i]);
        VECT3_ASSIGN(stabilization_gains[i].surface_d, phi_dgain_surface[i], theta_dgain_surface[i], psi_dgain_surface[i]);
        VECT3_ASSIGN(stabilization_gains[i].surface_i, phi_igain_surface[i], theta_igain_surface[i], psi_igain_surface[i]);
        VECT3_ASSIGN(stabilization_gains[i].surface_dd, phi_ddgain_surface[i], theta_ddgain_surface[i], psi_ddgain_surface[i]);
#endif
    }

    float_quat_identity(&stabilization_att_sum_err_quat);
    FLOAT_RATES_ZERO(last_body_rate);
    FLOAT_RATES_ZERO(body_rate_d);

#if PERIODIC_TELEMETRY
    register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_STAB_ATTITUDE_FLOAT, send_att);
    register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_STAB_ATTITUDE_REF_FLOAT, send_att_ref);
#endif
}
开发者ID:johanmaurin，项目名称:paparazzi，代码行数:32，代码来源:stabilization_attitude_quat_float.c

示例13: imu_init

void imu_init(void) {

#ifdef IMU_POWER_GPIO
  gpio_setup_output(IMU_POWER_GPIO);
  IMU_POWER_GPIO_ON(IMU_POWER_GPIO);
#endif

  /* initialises neutrals */
  RATES_ASSIGN(imu.gyro_neutral,  IMU_GYRO_P_NEUTRAL,  IMU_GYRO_Q_NEUTRAL,  IMU_GYRO_R_NEUTRAL);

  VECT3_ASSIGN(imu.accel_neutral, IMU_ACCEL_X_NEUTRAL, IMU_ACCEL_Y_NEUTRAL, IMU_ACCEL_Z_NEUTRAL);

#if defined IMU_MAG_X_NEUTRAL && defined IMU_MAG_Y_NEUTRAL && defined IMU_MAG_Z_NEUTRAL
  VECT3_ASSIGN(imu.mag_neutral,   IMU_MAG_X_NEUTRAL,   IMU_MAG_Y_NEUTRAL,   IMU_MAG_Z_NEUTRAL);
#else
#if USE_MAGNETOMETER
INFO("Magnetometer neutrals are set to zero, you should calibrate!")
#endif
  INT_VECT3_ZERO(imu.mag_neutral);
#endif

  /*
    Compute quaternion and rotation matrix
    for conversions between body and imu frame
  */
  struct Int32Eulers body_to_imu_eulers =
    { ANGLE_BFP_OF_REAL(IMU_BODY_TO_IMU_PHI),
      ANGLE_BFP_OF_REAL(IMU_BODY_TO_IMU_THETA),
      ANGLE_BFP_OF_REAL(IMU_BODY_TO_IMU_PSI) };
  INT32_QUAT_OF_EULERS(imu.body_to_imu_quat, body_to_imu_eulers);
  INT32_QUAT_NORMALIZE(imu.body_to_imu_quat);
  INT32_RMAT_OF_EULERS(imu.body_to_imu_rmat, body_to_imu_eulers);

#if PERIODIC_TELEMETRY
  register_periodic_telemetry(DefaultPeriodic, "IMU_ACCEL", send_accel);
  register_periodic_telemetry(DefaultPeriodic, "IMU_GYRO", send_gyro);
#if USE_IMU_FLOAT
#else // !USE_IMU_FLOAT
  register_periodic_telemetry(DefaultPeriodic, "IMU_ACCEL_RAW", send_accel_raw);
  register_periodic_telemetry(DefaultPeriodic, "IMU_ACCEL_SCALED", send_accel_scaled);
  register_periodic_telemetry(DefaultPeriodic, "IMU_ACCEL", send_accel);
  register_periodic_telemetry(DefaultPeriodic, "IMU_GYRO_RAW", send_gyro_raw);
  register_periodic_telemetry(DefaultPeriodic, "IMU_GYRO_SCALED", send_gyro_scaled);
  register_periodic_telemetry(DefaultPeriodic, "IMU_GYRO", send_gyro);
  register_periodic_telemetry(DefaultPeriodic, "IMU_MAG_RAW", send_mag_raw);
  register_periodic_telemetry(DefaultPeriodic, "IMU_MAG_SCALED", send_mag_scaled);
  register_periodic_telemetry(DefaultPeriodic, "IMU_MAG", send_mag);
#endif // !USE_IMU_FLOAT
#endif // DOWNLINK

  imu_impl_init();
}
开发者ID:EricPoppe，项目名称:paparazzi，代码行数:52，代码来源:imu.c

示例14: nps_sensor_accel_init

void   nps_sensor_accel_init(struct NpsSensorAccel* accel, double time) {
  FLOAT_VECT3_ZERO(accel->value);
  accel->resolution = NPS_ACCEL_RESOLUTION;
  FLOAT_MAT33_DIAG(accel->sensitivity, 
		   NPS_ACCEL_SENSITIVITY_XX, NPS_ACCEL_SENSITIVITY_YY, NPS_ACCEL_SENSITIVITY_ZZ);
  VECT3_ASSIGN(accel->neutral, 
	       NPS_ACCEL_NEUTRAL_X, NPS_ACCEL_NEUTRAL_Y, NPS_ACCEL_NEUTRAL_Z);
  VECT3_ASSIGN(accel->noise_std_dev, 
	       NPS_ACCEL_NOISE_STD_DEV_X, NPS_ACCEL_NOISE_STD_DEV_Y, NPS_ACCEL_NOISE_STD_DEV_Z);
  VECT3_ASSIGN(accel->bias, 
	       NPS_ACCEL_BIAS_X, NPS_ACCEL_BIAS_Y, NPS_ACCEL_BIAS_Z);
  accel->next_update = time;
  accel->data_available = FALSE;
}
开发者ID:AntoineBlais，项目名称:paparazzi，代码行数:14，代码来源:nps_sensor_accel.c

示例15: nps_sensor_mag_init

void nps_sensor_mag_init(struct NpsSensorMag* mag, double time) {
  VECT3_ASSIGN(mag->value, 0., 0., 0.);
  //  mag->resolution = NPS_MAG_RESOLUTION;
  FLOAT_MAT33_DIAG(mag->sensitivity, 
		   NPS_MAG_SENSITIVITY_XX, NPS_MAG_SENSITIVITY_YY, NPS_MAG_SENSITIVITY_ZZ);
  VECT3_ASSIGN(mag->neutral, 
	       NPS_MAG_NEUTRAL_X, NPS_MAG_NEUTRAL_Y, NPS_MAG_NEUTRAL_Z);
  VECT3_ASSIGN(mag->noise_std_dev, 
	       NPS_MAG_NOISE_STD_DEV_X, NPS_MAG_NOISE_STD_DEV_Y, NPS_MAG_NOISE_STD_DEV_Z);
  struct DoubleEulers imu_to_sensor_eulers = 
    { NPS_MAG_IMU_TO_SENSOR_PHI, NPS_MAG_IMU_TO_SENSOR_THETA, NPS_MAG_IMU_TO_SENSOR_PSI };
  DOUBLE_RMAT_OF_EULERS(mag->imu_to_sensor_rmat, imu_to_sensor_eulers);
  mag->next_update = time;
  mag->data_available = FALSE;
}
开发者ID:AntoineBlais，项目名称:paparazzi，代码行数:15，代码来源:nps_sensor_mag.c


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