sensors.h File Reference

TV Managed sensor header. More...

#include <stdint.h>
#include "common/ublox/nav_pvt.h"
#include "common/ublox/nav_relposned.h"

Go to the source code of this file.

Classes
struct	imu_data_t

Functions
void	gps_periodic (void)
void	initialize_calibration (void)
	Initialize the IMU decoupling calibration data structures and state.
void	IZZE_angular_rate_CALLBACK (void)
	Finalize the IMU decoupling calibration by deriving the rotation matrix from the accumulated accelerometer data.
void	IZZE_acceleration_CALLBACK (void)
	Callback function for handling IZZE acceleration data.

Variables
volatile uint8_t	rover_rx_buffer [ROVER_TX_SIZE]
NAV_PVT_data_t	nav_pvt
NAV_RELPOSNED_data_t	nav_relpos
imu_data_t	imu_data

Detailed Description

TV Managed sensor header.

Author

Irving Wang (irvin.nosp@m.gw@p.nosp@m.urdue.nosp@m..edu)

Function Documentation

IZZE_acceleration_CALLBACK()

void IZZE_acceleration_CALLBACK

(

void

)

Callback function for handling IZZE acceleration data.

In calibration mode, accumulates the raw acceleration data to derive the calibration rotation. In active mode, applies the decoupling rotation to the raw acceleration data and sends it out as IMU acceleration.

IZZE_angular_rate_CALLBACK()

void IZZE_angular_rate_CALLBACK

(

void

)

Finalize the IMU decoupling calibration by deriving the rotation matrix from the accumulated accelerometer data.

Callback function for handling IZZE angular rate data.

In active mode, applies the decoupling rotation to the raw angular rate data and sends it out as IMU angular rate.