C++ RATES_COPY函数代码示例

OStack程序员社区-中国程序员成长平台 › 门户 › 编程› C++›C++教程

原作者: [db:作者] 来自: [db:来源] 收藏邀请

本文整理汇总了C++中RATES_COPY函数的典型用法代码示例。如果您正苦于以下问题：C++ RATES_COPY函数的具体用法？C++ RATES_COPY怎么用？C++ RATES_COPY使用的例子？那么恭喜您, 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RATES_COPY函数的20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，您的评价将有助于我们的系统推荐出更棒的C++代码示例。

示例1: ahrs_icq_align

bool_t ahrs_icq_align(struct Int32Rates *lp_gyro, struct Int32Vect3 *lp_accel,
                      struct Int32Vect3 *lp_mag)
{

#if USE_MAGNETOMETER
  /* Compute an initial orientation from accel and mag directly as quaternion */
  ahrs_int_get_quat_from_accel_mag(&ahrs_icq.ltp_to_imu_quat,
                                   lp_accel, lp_mag);
  ahrs_icq.heading_aligned = TRUE;
#else
  /* Compute an initial orientation from accel and just set heading to zero */
  ahrs_int_get_quat_from_accel(&ahrs_icq.ltp_to_imu_quat, lp_accel);
  ahrs_icq.heading_aligned = FALSE;
  // supress unused arg warning
  lp_mag = lp_mag;
#endif

  /* Use low passed gyro value as initial bias */
  RATES_COPY(ahrs_icq.gyro_bias, *lp_gyro);
  RATES_COPY(ahrs_icq.high_rez_bias, *lp_gyro);
  INT_RATES_LSHIFT(ahrs_icq.high_rez_bias, ahrs_icq.high_rez_bias, 28);

  ahrs_icq.status = AHRS_ICQ_RUNNING;
  ahrs_icq.is_aligned = TRUE;

  return TRUE;
}

开发者ID:AE4317group07，项目名称:paparazzi，代码行数:27，代码来源:ahrs_int_cmpl_quat.c

示例2: store_filter_output

static void store_filter_output(int i) {
#ifdef OUTPUT_IN_BODY_FRAME
  QUAT_COPY(output[i].quat_est, ahrs_impl.ltp_to_body_quat);
  RATES_COPY(output[i].rate_est, ahrs_impl.body_rate);
#else
  QUAT_COPY(output[i].quat_est, ahrs_impl.ltp_to_imu_quat);
  RATES_COPY(output[i].rate_est, ahrs_impl.imu_rate);
#endif /* OUTPUT_IN_BODY_FRAME */
  RATES_COPY(output[i].bias_est, ahrs_impl.gyro_bias);
  //  memcpy(output[i].P, ahrs_impl.P, sizeof(ahrs_impl.P));
}

开发者ID:Abhi0204，项目名称:paparazzi，代码行数:11，代码来源:run_ahrs_on_flight_log.c

示例3: imu_aspirin2_event

void imu_aspirin2_event(void)
{
  mpu60x0_spi_event(&imu_aspirin2.mpu);
  if (imu_aspirin2.mpu.data_available) {
    /* HMC5883 has xzy order of axes in returned data */
    struct Int32Vect3 mag;
    mag.x = Int16FromBuf(imu_aspirin2.mpu.data_ext, 0);
    mag.z = Int16FromBuf(imu_aspirin2.mpu.data_ext, 2);
    mag.y = Int16FromBuf(imu_aspirin2.mpu.data_ext, 4);
#ifdef LISA_M_LONGITUDINAL_X
    RATES_ASSIGN(imu.gyro_unscaled,
                 imu_aspirin2.mpu.data_rates.rates.q,
                 -imu_aspirin2.mpu.data_rates.rates.p,
                 imu_aspirin2.mpu.data_rates.rates.r);
    VECT3_ASSIGN(imu.accel_unscaled,
                 imu_aspirin2.mpu.data_accel.vect.y,
                 -imu_aspirin2.mpu.data_accel.vect.x,
                 imu_aspirin2.mpu.data_accel.vect.z);
    VECT3_ASSIGN(imu.mag_unscaled, -mag.x, -mag.y, mag.z);
#else
#ifdef LISA_S
#ifdef LISA_S_UPSIDE_DOWN
    RATES_ASSIGN(imu.gyro_unscaled,
                 imu_aspirin2.mpu.data_rates.rates.p,
                 -imu_aspirin2.mpu.data_rates.rates.q,
                 -imu_aspirin2.mpu.data_rates.rates.r);
    VECT3_ASSIGN(imu.accel_unscaled,
                 imu_aspirin2.mpu.data_accel.vect.x,
                 -imu_aspirin2.mpu.data_accel.vect.y,
                 -imu_aspirin2.mpu.data_accel.vect.z);
    VECT3_ASSIGN(imu.mag_unscaled, mag.x, -mag.y, -mag.z);
#else
    RATES_COPY(imu.gyro_unscaled, imu_aspirin2.mpu.data_rates.rates);
    VECT3_COPY(imu.accel_unscaled, imu_aspirin2.mpu.data_accel.vect);
    VECT3_COPY(imu.mag_unscaled, mag);
#endif
#else
    RATES_COPY(imu.gyro_unscaled, imu_aspirin2.mpu.data_rates.rates);
    VECT3_COPY(imu.accel_unscaled, imu_aspirin2.mpu.data_accel.vect);
    VECT3_ASSIGN(imu.mag_unscaled, mag.y, -mag.x, mag.z)
#endif
#endif
    imu_aspirin2.mpu.data_available = FALSE;
    imu_aspirin2.gyro_valid = TRUE;
    imu_aspirin2.accel_valid = TRUE;
    imu_aspirin2.mag_valid = TRUE;
  }
}

开发者ID:1bitsquared，项目名称:paparazzi，代码行数:48，代码来源:imu_aspirin_2_spi.c

示例4: ahrs_icq_propagate

void ahrs_icq_propagate(struct Int32Rates *gyro, float dt)
{
  int32_t freq = (int32_t)(1. / dt);

  /* unbias gyro             */
  struct Int32Rates omega;
  RATES_DIFF(omega, *gyro, ahrs_icq.gyro_bias);

  /* low pass rate */
#ifdef AHRS_PROPAGATE_LOW_PASS_RATES
  RATES_SMUL(ahrs_icq.imu_rate, ahrs_icq.imu_rate, 2);
  RATES_ADD(ahrs_icq.imu_rate, omega);
  RATES_SDIV(ahrs_icq.imu_rate, ahrs_icq.imu_rate, 3);
#else
  RATES_COPY(ahrs_icq.imu_rate, omega);
#endif

  /* add correction */
  RATES_ADD(omega, ahrs_icq.rate_correction);
  /* and zeros it */
  INT_RATES_ZERO(ahrs_icq.rate_correction);

  /* integrate quaternion */
  int32_quat_integrate_fi(&ahrs_icq.ltp_to_imu_quat, &ahrs_icq.high_rez_quat,
                          &omega, freq);
  int32_quat_normalize(&ahrs_icq.ltp_to_imu_quat);

  // increase accel and mag propagation counters
  ahrs_icq.accel_cnt++;
  ahrs_icq.mag_cnt++;
}

开发者ID:AE4317group07，项目名称:paparazzi，代码行数:31，代码来源:ahrs_int_cmpl_quat.c

示例5: ahrs_align

void ahrs_align(void) {

#if USE_MAGNETOMETER
  /* Compute an initial orientation from accel and mag directly as quaternion */
  ahrs_float_get_quat_from_accel_mag(&ahrs_impl.ltp_to_imu_quat, &ahrs_aligner.lp_accel, &ahrs_aligner.lp_mag);
  ahrs_impl.heading_aligned = TRUE;
#else
  /* Compute an initial orientation from accel and just set heading to zero */
  ahrs_float_get_quat_from_accel(&ahrs_impl.ltp_to_imu_quat, &ahrs_aligner.lp_accel);
  ahrs_impl.heading_aligned = FALSE;
#endif

  /* Convert initial orientation from quat to rotation matrix representations. */
  FLOAT_RMAT_OF_QUAT(ahrs_impl.ltp_to_imu_rmat, ahrs_impl.ltp_to_imu_quat);

  /* Compute initial body orientation */
  compute_body_orientation_and_rates();

  /* used averaged gyro as initial value for bias */
  struct Int32Rates bias0;
  RATES_COPY(bias0, ahrs_aligner.lp_gyro);
  RATES_FLOAT_OF_BFP(ahrs_impl.gyro_bias, bias0);

  ahrs.status = AHRS_RUNNING;
}

开发者ID:FatihRasimBahar，项目名称:paparazzi，代码行数:25，代码来源:ahrs_float_cmpl.c

示例6: ahrs_propagate

void ahrs_propagate(void) {

  /* unbias gyro             */
  struct Int32Rates omega;
  RATES_DIFF(omega, imu.gyro_prev, ahrs_impl.gyro_bias);

  /* low pass rate */
//#ifdef AHRS_PROPAGATE_LOW_PASS_RATES
  if (gyro_lowpass_filter > 1) {
	  RATES_SMUL(ahrs_impl.imu_rate, ahrs_impl.imu_rate, gyro_lowpass_filter-1);
	  RATES_ADD(ahrs_impl.imu_rate, omega);
	  RATES_SDIV(ahrs_impl.imu_rate, ahrs_impl.imu_rate, gyro_lowpass_filter);
  //#else
  } else {
	  RATES_COPY(ahrs_impl.imu_rate, omega);
  //#endif
  }

  /* add correction     */
  RATES_ADD(omega, ahrs_impl.rate_correction);
  /* and zeros it */
  INT_RATES_ZERO(ahrs_impl.rate_correction);

  /* integrate quaternion */
  INT32_QUAT_INTEGRATE_FI(ahrs_impl.ltp_to_imu_quat, ahrs_impl.high_rez_quat, omega, AHRS_PROPAGATE_FREQUENCY);
  INT32_QUAT_NORMALIZE(ahrs_impl.ltp_to_imu_quat);

  set_body_state_from_quat();

}

开发者ID:jeffchenhr，项目名称:dev-barometer，代码行数:30，代码来源:ahrs_int_cmpl_quat.c

示例7: imu_navstik_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_navstik_event(void)
{
  uint32_t now_ts = get_sys_time_usec();

  /* MPU-60x0 event taks */
  mpu60x0_i2c_event(&imu_navstik.mpu);

  if (imu_navstik.mpu.data_available) {
    /* default orientation as should be printed on the pcb, z-down, ICs down */
    RATES_COPY(imu.gyro_unscaled, imu_navstik.mpu.data_rates.rates);
    VECT3_COPY(imu.accel_unscaled, imu_navstik.mpu.data_accel.vect);

    imu_navstik.mpu.data_available = false;
    imu_scale_gyro(&imu);
    imu_scale_accel(&imu);
    AbiSendMsgIMU_GYRO_INT32(IMU_BOARD_ID, now_ts, &imu.gyro);
    AbiSendMsgIMU_ACCEL_INT32(IMU_BOARD_ID, now_ts, &imu.accel);
  }

  /* HMC58XX event task */
  hmc58xx_event(&imu_navstik.hmc);
  if (imu_navstik.hmc.data_available) {
    imu.mag_unscaled.x =  imu_navstik.hmc.data.vect.y;
    imu.mag_unscaled.y = -imu_navstik.hmc.data.vect.x;
    imu.mag_unscaled.z =  imu_navstik.hmc.data.vect.z;
    imu_navstik.hmc.data_available = false;
    imu_scale_mag(&imu);
    AbiSendMsgIMU_MAG_INT32(IMU_BOARD_ID, now_ts, &imu.mag);
  }
}

开发者ID:enacuavlab，项目名称:paparazzi，代码行数:34，代码来源:imu_navstik.c

示例8: imu_aspirin_event

void imu_aspirin_event(void)
{
  adxl345_spi_event(&imu_aspirin.acc_adxl);
  if (imu_aspirin.acc_adxl.data_available) {
    VECT3_COPY(imu.accel_unscaled, imu_aspirin.acc_adxl.data.vect);
    imu_aspirin.acc_adxl.data_available = FALSE;
    imu_aspirin.accel_valid = TRUE;
  }

  /* If the itg3200 I2C transaction has succeeded: convert the data */
  itg3200_event(&imu_aspirin.gyro_itg);
  if (imu_aspirin.gyro_itg.data_available) {
    RATES_COPY(imu.gyro_unscaled, imu_aspirin.gyro_itg.data.rates);
    imu_aspirin.gyro_itg.data_available = FALSE;
    imu_aspirin.gyro_valid = TRUE;
  }

  /* HMC58XX event task */
  hmc58xx_event(&imu_aspirin.mag_hmc);
  if (imu_aspirin.mag_hmc.data_available) {
#ifdef IMU_ASPIRIN_VERSION_1_0
    VECT3_COPY(imu.mag_unscaled, imu_aspirin.mag_hmc.data.vect);
#else // aspirin 1.5 with hmc5883
    imu.mag_unscaled.x =  imu_aspirin.mag_hmc.data.vect.y;
    imu.mag_unscaled.y = -imu_aspirin.mag_hmc.data.vect.x;
    imu.mag_unscaled.z =  imu_aspirin.mag_hmc.data.vect.z;
#endif
    imu_aspirin.mag_hmc.data_available = FALSE;
    imu_aspirin.mag_valid = TRUE;
  }
}

开发者ID:jornanke，项目名称:paparazzi，代码行数:31，代码来源:imu_aspirin.c

示例9: 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10: ahrs_propagate

void ahrs_propagate(void) {

  /* unbias gyro             */
  struct Int32Rates omega;
  RATES_DIFF(omega, imu.gyro_prev, ahrs_impl.gyro_bias);

  /* low pass rate */
#ifdef AHRS_PROPAGATE_LOW_PASS_RATES
  RATES_SMUL(ahrs.imu_rate, ahrs.imu_rate,2);
  RATES_ADD(ahrs.imu_rate, omega);
  RATES_SDIV(ahrs.imu_rate, ahrs.imu_rate, 3);
#else
  RATES_COPY(ahrs.imu_rate, omega);
#endif

  /* add correction     */
  RATES_ADD(omega, ahrs_impl.rate_correction);
  /* and zeros it */
  INT_RATES_ZERO(ahrs_impl.rate_correction);

  /* integrate quaternion */
  INT32_QUAT_INTEGRATE_FI(ahrs.ltp_to_imu_quat, ahrs_impl.high_rez_quat, omega, AHRS_PROPAGATE_FREQUENCY);
  INT32_QUAT_NORMALIZE(ahrs.ltp_to_imu_quat);

  compute_imu_euler_and_rmat_from_quat();

  compute_body_orientation();

}

开发者ID:cbeighley，项目名称:paparazzi，代码行数:29，代码来源:ahrs_int_cmpl.c

示例11: imu_mpu_hmc_event

void imu_mpu_hmc_event(void)
{
    uint32_t now_ts = get_sys_time_usec();

    mpu60x0_spi_event(&imu_mpu_hmc.mpu);
    if (imu_mpu_hmc.mpu.data_available) {
        RATES_COPY(imu.gyro_unscaled, imu_mpu_hmc.mpu.data_rates.rates);
        VECT3_COPY(imu.accel_unscaled, imu_mpu_hmc.mpu.data_accel.vect);
        imu_mpu_hmc.mpu.data_available = false;
        imu_scale_gyro(&imu);
        imu_scale_accel(&imu);
        AbiSendMsgIMU_GYRO_INT32(IMU_MPU6000_HMC_ID, now_ts, &imu.gyro);
        AbiSendMsgIMU_ACCEL_INT32(IMU_MPU6000_HMC_ID, now_ts, &imu.accel);
    }

    /* HMC58XX event task */
    hmc58xx_event(&imu_mpu_hmc.hmc);
    if (imu_mpu_hmc.hmc.data_available) {
        /* mag rotated by 90deg around z axis relative to MPU */
        imu.mag_unscaled.x =  imu_mpu_hmc.hmc.data.vect.y;
        imu.mag_unscaled.y = -imu_mpu_hmc.hmc.data.vect.x;
        imu.mag_unscaled.z =  imu_mpu_hmc.hmc.data.vect.z;
        imu_mpu_hmc.hmc.data_available = false;
        imu_scale_mag(&imu);
        AbiSendMsgIMU_MAG_INT32(IMU_MPU6000_HMC_ID, now_ts, &imu.mag);
    }
}

开发者ID:coppolam，项目名称:paparazzi，代码行数:27，代码来源:imu_mpu6000_hmc5883.c

示例12: ahrs_fc_align

bool_t ahrs_fc_align(struct Int32Rates *lp_gyro, struct Int32Vect3 *lp_accel,
                     struct Int32Vect3 *lp_mag)
{

#if USE_MAGNETOMETER
  /* Compute an initial orientation from accel and mag directly as quaternion */
  ahrs_float_get_quat_from_accel_mag(&ahrs_fc.ltp_to_imu_quat, lp_accel, lp_mag);
  ahrs_fc.heading_aligned = TRUE;
#else
  /* Compute an initial orientation from accel and just set heading to zero */
  ahrs_float_get_quat_from_accel(&ahrs_fc.ltp_to_imu_quat, lp_accel);
  ahrs_fc.heading_aligned = FALSE;
#endif

  /* Convert initial orientation from quat to rotation matrix representations. */
  float_rmat_of_quat(&ahrs_fc.ltp_to_imu_rmat, &ahrs_fc.ltp_to_imu_quat);

  /* used averaged gyro as initial value for bias */
  struct Int32Rates bias0;
  RATES_COPY(bias0, *lp_gyro);
  RATES_FLOAT_OF_BFP(ahrs_fc.gyro_bias, bias0);

  ahrs_fc.status = AHRS_FC_RUNNING;
  ahrs_fc.is_aligned = TRUE;

  return TRUE;
}

开发者ID:jmavi，项目名称:paparazzi_fix，代码行数:27，代码来源:ahrs_float_cmpl.c

示例13: ahrs_propagate

void ahrs_propagate(void) {

  /* converts gyro to floating point */
  struct FloatRates gyro_float;
  RATES_FLOAT_OF_BFP(gyro_float, imu.gyro_prev);
  /* unbias measurement */
  RATES_SUB(gyro_float, ahrs_impl.gyro_bias);

#ifdef AHRS_PROPAGATE_LOW_PASS_RATES
  const float alpha = 0.1;
  FLOAT_RATES_LIN_CMB(ahrs_impl.imu_rate, ahrs_impl.imu_rate, (1.-alpha), gyro_float, alpha);
#else
  RATES_COPY(ahrs_impl.imu_rate,gyro_float);
#endif

  /* add correction     */
  struct FloatRates omega;
  RATES_SUM(omega, gyro_float, ahrs_impl.rate_correction);
  /* and zeros it */
  FLOAT_RATES_ZERO(ahrs_impl.rate_correction);

  const float dt = 1./AHRS_PROPAGATE_FREQUENCY;
#if AHRS_PROPAGATE_RMAT
  FLOAT_RMAT_INTEGRATE_FI(ahrs_impl.ltp_to_imu_rmat, omega, dt);
  float_rmat_reorthogonalize(&ahrs_impl.ltp_to_imu_rmat);
  FLOAT_QUAT_OF_RMAT(ahrs_impl.ltp_to_imu_quat, ahrs_impl.ltp_to_imu_rmat);
#endif
#if AHRS_PROPAGATE_QUAT
  FLOAT_QUAT_INTEGRATE(ahrs_impl.ltp_to_imu_quat, omega, dt);
  FLOAT_QUAT_NORMALIZE(ahrs_impl.ltp_to_imu_quat);
  FLOAT_RMAT_OF_QUAT(ahrs_impl.ltp_to_imu_rmat, ahrs_impl.ltp_to_imu_quat);
#endif
  compute_body_orientation_and_rates();

}

开发者ID:1bitsquared，项目名称:paparazzi，代码行数:35，代码来源:ahrs_float_cmpl.c

示例14: ahrs_align

void ahrs_align(void) {


  /* Compute an initial orientation using euler angles */
  ahrs_int_get_euler_from_accel_mag(&ahrs.ltp_to_imu_euler, &ahrs_aligner.lp_accel, &ahrs_aligner.lp_mag);
  /* Convert initial orientation in quaternion and rotation matrice representations. */
  compute_imu_quat_and_rmat_from_euler();

  compute_body_orientation();

  /* Use low passed gyro value as initial bias */
  RATES_COPY( ahrs_impl.gyro_bias, ahrs_aligner.lp_gyro);
  RATES_COPY( ahrs_impl.high_rez_bias, ahrs_aligner.lp_gyro);
  INT_RATES_LSHIFT(ahrs_impl.high_rez_bias, ahrs_impl.high_rez_bias, 28);

  ahrs.status = AHRS_RUNNING;

}

开发者ID:cbeighley，项目名称:paparazzi，代码行数:18，代码来源:ahrs_int_cmpl.c

示例15: compute_body_orientation_and_rates

/*
 * Compute body orientation and rates from imu orientation and rates
 */
void compute_body_orientation_and_rates(void) {

  /* set ltp_to_body to same as ltp_to_imu, currently no difference simulated */

  QUAT_COPY(ahrs_float.ltp_to_body_quat, ahrs_float.ltp_to_imu_quat);
  EULERS_COPY(ahrs_float.ltp_to_body_euler, ahrs_float.ltp_to_imu_euler);
  RMAT_COPY(ahrs_float.ltp_to_body_rmat, ahrs_float.ltp_to_imu_rmat);
  RATES_COPY(ahrs_float.body_rate, ahrs_float.imu_rate);
}

开发者ID:Ludo6431，项目名称:paparazzi，代码行数:12，代码来源:ahrs_sim.c

示例16: imu_scale_gyro

void WEAK imu_scale_gyro(struct Imu* _imu)
{
  RATES_COPY(_imu->gyro_prev, _imu->gyro);
  _imu->gyro.p = ((_imu->gyro_unscaled.p - _imu->gyro_neutral.p) * IMU_GYRO_P_SIGN *
                  IMU_GYRO_P_SENS_NUM) / IMU_GYRO_P_SENS_DEN;
  _imu->gyro.q = ((_imu->gyro_unscaled.q - _imu->gyro_neutral.q) * IMU_GYRO_Q_SIGN *
                  IMU_GYRO_Q_SENS_NUM) / IMU_GYRO_Q_SENS_DEN;
  _imu->gyro.r = ((_imu->gyro_unscaled.r - _imu->gyro_neutral.r) * IMU_GYRO_R_SIGN *
                  IMU_GYRO_R_SENS_NUM) / IMU_GYRO_R_SENS_DEN;
}

开发者ID:KISSMonX，项目名称:paparazzi，代码行数:10，代码来源:imu.c

示例17: sim_overwrite_ahrs

void sim_overwrite_ahrs(void) {

  struct FloatQuat quat_f;
  QUAT_COPY(quat_f, fdm.ltp_to_body_quat);
  stateSetNedToBodyQuat_f(&quat_f);

  struct FloatRates rates_f;
  RATES_COPY(rates_f, fdm.body_ecef_rotvel);
  stateSetBodyRates_f(&rates_f);

}

开发者ID:Azaddien，项目名称:paparazzi，代码行数:11，代码来源:nps_autopilot_rotorcraft.c

示例18: imu_mpu_spi_event

void imu_mpu_spi_event(void)
{
  mpu60x0_spi_event(&imu_mpu_spi.mpu);
  if (imu_mpu_spi.mpu.data_available) {
    RATES_COPY(imu.gyro_unscaled, imu_mpu_spi.mpu.data_rates.rates);
    VECT3_COPY(imu.accel_unscaled, imu_mpu_spi.mpu.data_accel.vect);
    imu_mpu_spi.mpu.data_available = FALSE;
    imu_mpu_spi.gyro_valid = TRUE;
    imu_mpu_spi.accel_valid = TRUE;
  }
}

开发者ID:Djeef，项目名称:paparazzi，代码行数:11，代码来源:imu_mpu6000.c

示例19: feed_imu

static void feed_imu(int i) {
  if (i>0) {
    RATES_COPY(imu.gyro_prev, imu.gyro);
  }
  else {
    RATES_BFP_OF_REAL(imu.gyro_prev, samples[0].gyro);
  }
  RATES_BFP_OF_REAL(imu.gyro, samples[i].gyro);
  ACCELS_BFP_OF_REAL(imu.accel, samples[i].accel);
  MAGS_BFP_OF_REAL(imu.mag, samples[i].mag);
}

开发者ID:Abhi0204，项目名称:paparazzi，代码行数:11，代码来源:run_ahrs_on_flight_log.c

示例20: imu_scale_gyro

void WEAK imu_scale_gyro(struct Imu *_imu)
{
#ifdef TREF
	  RATES_COPY(_imu->gyro_prev, _imu->gyro);
	  _imu->gyro.p = ((_imu->gyro_unscaled.p + (TREF-_imu->temp_unscaled)*DXG -_imu->gyro_neutral.p) * IMU_GYRO_P_SIGN *
	                  IMU_GYRO_P_SENS_NUM) / IMU_GYRO_P_SENS_DEN;
	  _imu->gyro.q = ((_imu->gyro_unscaled.q + (TREF-_imu->temp_unscaled)*DYG - _imu->gyro_neutral.q) * IMU_GYRO_Q_SIGN *
	                  IMU_GYRO_Q_SENS_NUM) / IMU_GYRO_Q_SENS_DEN;
	  _imu->gyro.r = ((_imu->gyro_unscaled.r + (TREF-_imu->temp_unscaled)*DZG - _imu->gyro_neutral.r) * IMU_GYRO_R_SIGN *
	                  IMU_GYRO_R_SENS_NUM) / IMU_GYRO_R_SENS_DEN;
#else
  RATES_COPY(_imu->gyro_prev, _imu->gyro);
  _imu->gyro.p = ((_imu->gyro_unscaled.p - _imu->gyro_neutral.p) * IMU_GYRO_P_SIGN *
                  IMU_GYRO_P_SENS_NUM) / IMU_GYRO_P_SENS_DEN;
  _imu->gyro.q = ((_imu->gyro_unscaled.q - _imu->gyro_neutral.q) * IMU_GYRO_Q_SIGN *
                  IMU_GYRO_Q_SENS_NUM) / IMU_GYRO_Q_SENS_DEN;
  _imu->gyro.r = ((_imu->gyro_unscaled.r - _imu->gyro_neutral.r) * IMU_GYRO_R_SIGN *
                  IMU_GYRO_R_SENS_NUM) / IMU_GYRO_R_SENS_DEN;
#endif // TREF
}

开发者ID:elemhsb，项目名称:paparazzi，代码行数:20，代码来源:imu.c

注：本文中的RATES_COPY函数示例由纯净天空整理自Github/MSDocs等源码及文档管理平台，相关代码片段筛选自各路编程大神贡献的开源项目，源码版权归原作者所有，传播和使用请参考对应项目的License；未经允许，请勿转载。

鲜花

握手

雷人

路过

鸡蛋

该文章已有0人参与评论

请发表评论

全部评论

专题导读

More+

10-27 六六分期app的软件客服如何联系？(六六分期

11-06 可心卡盟:win10系统火狐flash插件崩溃怎么

11-06 亲亲特价:怎么删除回收站图标

11-06 济南大学虚拟社区:鲁大师节能降温的具体办

11-06 xlueops.exe:无线网络安装向导

11-06 女斗合众国:win7系统cf与主机连接不稳定怎

11-06 0xc000022-[cf烟雾头]cf怎么调烟雾头

11-06 qizideyouhuo:应用程序无法正常启动0xc0000

11-06 ipz-185:win7系统vcf文件怎么打开

11-06 傻哥蹦迪:win10系统s4怎么打开usb调试

11-06 八神浩树gtaste:回收站清空了怎么恢复

11-06 妖尾之黑色守护:win10系统电脑没有1440x900

11-06 校园至尊魔王小说:win7系统浏览网页时字体

11-06 女斗合众国:win10系统访问共享文件夹提示请

11-06 tokyo hot n0654:恢复win7系统默认字体一招

11-06 雨酷仙境:设置win7系统转移临时文件夹腾出

11-06 阿穆纳伊之杖:win7系统开始菜单在右边还原

11-06 tunespotting:win10系统火狐flash插件总是

11-06 甘尔葛分析师：计谋网站seo关键词暴涨有什

11-06 蔡贵霖: 计谋网站seo关键词暴涨有什么秘密

11-06 博益网首页:ao3网页版进入不了解决方法

11-06 漏斗子专栏: 网站数据分析小白易懂精华篇

11-06 见证双虹怎么做:win7系统开启telnet命令的

11-06 颾狐蝶蜋:系统资源不足无法完成请求的服务

11-06 国光中学校歌:提交网站到alexa查询详细步骤

11-06 西安有情天:静态网页和动态网页的区别

11-06 红木雅尚斋:外部链接构造对网站的好处

11-06 前官礼遇：防止域名劫持–增强域安全性的10

11-06 密传二转答案: 中文分词算法有哪些

11-06 金泉家园邮编:百度快照劫持的表现及应对方

C++ RAW函数代码示例发布时间：2022-05-30

C++ RARRAY_PTR函数代码示例发布时间：2022-05-30

剪的笔顺,诠释剪的笔画,认识剪的部首

1 六六分期app的软件客服如何联系？(六六分期

六六分期app的软件客服如何联系？不知道吗？加qq群【895510560】即可！标题：六六分期

阅读：19283|2023-10-27

2 可心卡盟:win10系统火狐flash插件崩溃怎么

今天小编告诉大家如何处理win10系统火狐flash插件总是崩溃的问题，可能很多用户都不知

阅读：10021|2022-11-06

3 亲亲特价:怎么删除回收站图标

今天小编告诉大家如何对win10系统删除桌面回收站图标进行设置，可能很多用户都不知道

阅读：8344|2022-11-06

4 济南大学虚拟社区:鲁大师节能降温的具体办

今天小编告诉大家如何对win10系统电脑设置节能降温的设置方法，想必大家都遇到过需要

阅读：8713|2022-11-06

5 xlueops.exe:无线网络安装向导

我们在使用xp系统的过程中,经常需要对xp系统无线网络安装向导设置进行设置，可能很多

阅读：8658|2022-11-06

6 女斗合众国:win7系统cf与主机连接不稳定怎

今天小编告诉大家如何处理win7系统玩cf老是与主机连接不稳定的问题，可能很多用户都不

阅读：9688|2022-11-06

7 0xc000022-[cf烟雾头]cf怎么调烟雾头

电脑对日常生活的重要性小编就不多说了，可是一旦碰到win7系统设置cf烟雾头的问题，很

阅读：8646|2022-11-06

8 qizideyouhuo:应用程序无法正常启动0xc0000

我们在日常使用电脑的时候，有的小伙伴们可能在打开应用的时候会遇见提示应用程序无法

阅读：8014|2022-11-06

9 ipz-185:win7系统vcf文件怎么打开

今天小编告诉大家如何对win7系统打开vcf文件进行设置，可能很多用户都不知道怎么对win

阅读：8683|2022-11-06

10 傻哥蹦迪:win10系统s4怎么打开usb调试

今天小编告诉大家如何对win10系统s4开启USB调试模式进行设置，可能很多用户都不知道怎

阅读：7550|2022-11-06

客服电话

电子邮件

C++ RATES_COPY函数代码示例

示例1: ahrs_icq_align

示例2: store_filter_output

示例3: imu_aspirin2_event

示例4: ahrs_icq_propagate

示例5: ahrs_align

示例6: ahrs_propagate

示例7: imu_navstik_event

示例8: imu_aspirin_event

示例9: imu_navgo_event

示例10: ahrs_propagate

示例11: imu_mpu_hmc_event

示例12: ahrs_fc_align

示例13: ahrs_propagate

示例14: ahrs_align

示例15: compute_body_orientation_and_rates

示例16: imu_scale_gyro

示例17: sim_overwrite_ahrs

示例18: imu_mpu_spi_event

示例19: feed_imu

示例20: imu_scale_gyro

请发表评论

全部评论

上一篇：

下一篇：

PacktPublishing/Python-Machine-Learning-

CVE-2022-36999

sussillo/hfopt-matlab: A parallel, cpu-b

鲁东大学一米网:Win7系统USB驱动器RAM的操

emersion/go-ostatus: An OStatus library

剪的笔顺,诠释剪的笔画,认识剪的部首

六六分期app的软件客服如何联系？(六六分期

florent37/ViewAnimator: A fluent Android

florent37/Shrine-MaterialDesign2: implem

CVE-2020-36276

SimpleSoftwareIO/simple-sms: Send and re

关于我们

产品与服务

解决方案

139-2527-9053