/**
?******************************************************************************
?*?@addtogroup?AHRS?AHRS
?*?@brief?The?AHRS?Modules?perform
?*
?*?@{
?*?@addtogroup?AHRS_Main
?*?@brief?Main?function?which?does?the?hardware?dependent?stuff
?*?@{
?*
?*
?*?@file???????ahrs.c
?*?@author?????The?OpenPilot?Team?http://www.openpilot.org?Copyright?（C）?2010.
?*?@brief??????INSGPS?Test?Program
?*?@see????????The?GNU?Public?License?（GPL）?Version?3
?*
?*****************************************************************************/
/*
?*?This?program?is?free?software;?you?can?redistribute?it?and/or?modify
?*?it?under?the?terms?of?the?GNU?General?Public?License?as?published?by
?*?the?Free?Software?Foundation;?either?version?3?of?the?License?or
?*?（at?your?option）?any?later?version.
?*
?*?This?program?is?distributed?in?the?hope?that?it?will?be?useful?but
?*?WITHOUT?ANY?WARRANTY;?without?even?the?implied?warranty?of?MERCHANTABILITY
?*?or?FITNESS?FOR?A?PARTICULAR?PURPOSE.?See?the?GNU?General?Public?License
?*?for?more?details.
?*
?*?You?should?have?received?a?copy?of?the?GNU?General?Public?License?along
?*?with?this?program;?if?not?write?to?the?Free?Software?Foundation?Inc.
?*?59?Temple?Place?Suite?330?Boston?MA?02111-1307?USA
?*/

/*?OpenPilot?Includes?*/
#include?“ahrs.h“
#include?
#include?“pios.h“
#include?“ahrs_timer.h“
#include?“ahrs_spi_comm.h“
#include?“insgps.h“
#include?“CoordinateConversions.h“
#include?
#include?“fifo_buffer.h“

#define?DEG_TO_RAD?????????（M_PI?/?180.0）
#define?RAD_TO_DEG?????????（180.0?/?M_PI）

#define?INSGPS_GPS_TIMEOUT?2???/*?2?seconds?triggers?reinit?of?position?*/
#define?INSGPS_GPS_MINSAT??6???/*?2?seconds?triggers?reinit?of?position?*/
#define?INSGPS_GPS_MINPDOP?3.5?/*?minimum?PDOP?for?postition?updates????*/
#define?INSGPS_MAGLEN??????1000
#define?INSGPS_MAGTOL??????0.5?/*?error?in?magnetic?vector?length?to?use??*/

#define?GYRO_OOB（x）?（（x?>?（1000?*?DEG_TO_RAD））?||?（x?#define?ACCEL_OOB（x）?（（（x?>?12*9.81）?||?（x?#define?ISNAN（x）?（x?!=?x）
//?down-sampled?data?index
#define?ACCEL_RAW_X_IDX			2
#define?ACCEL_RAW_Y_IDX			0
#define?ACCEL_RAW_Z_IDX			4
#define?GYRO_RAW_X_IDX			1
#define?GYRO_RAW_Y_IDX			3
#define?GYRO_RAW_Z_IDX			5
#define?GYRO_TEMP_RAW_XY_IDX	6
#define?GYRO_TEMP_RAW_Z_IDX		7
#define?MAG_RAW_X_IDX			1
#define?MAG_RAW_Y_IDX			0
#define?MAG_RAW_Z_IDX			2

//?For?debugging?the?raw?sensors
//#define?DUMP_RAW
//#define?DUMP_EKF
//#define?PIP_DUMP_RAW

volatile?int8_t?ahrs_algorithm;

/*?INS?functions?*/
void?ins_outdoor_update（）;
void?ins_indoor_update（）;
void?simple_update（）;

/*?Data?accessors?*/
void?adc_callback（float?*）;
bool?get_accel_gyro_data（）;
void?process_mag_data（）;
void?reset_values（）;
void?calibrate_sensors（void）;

/*?Communication?functions?*/
void?send_calibration（void）;
void?send_attitude（void）;
void?send_velocity（void）;
void?send_positi

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----

?????文件??????42418??2012-03-23?18:04??AHRS\ahrs.c

?????文件???????1865??2012-03-23?18:04??AHRS\ahrs_timer.c

?????文件??????62531??2012-03-23?18:04??AHRS\insgps13state.c

?????文件??????69599??2012-03-23?18:04??AHRS\insgps16state.c

?????文件??????13458??2012-03-23?18:04??AHRS\Makefile

?????文件??????11588??2012-03-23?18:04??AHRS\pios_board.c

?????文件????????839??2012-03-23?18:04??AHRS\test.c

?????文件???????2510??2012-03-23?18:04??AHRS\inc\ahrs.h

?????文件???????2977??2012-03-23?18:04??AHRS\inc\ahrs_fsm.h

?????文件???????1489??2012-03-23?18:04??AHRS\inc\ahrs_timer.h

?????文件???????3071??2012-03-23?18:04??AHRS\inc\insgps.h

?????文件???????1666??2012-03-23?18:04??AHRS\inc\pios_config.h

?????目錄??????????0??2012-05-21?11:28??AHRS\inc

?????目錄??????????0??2012-05-21?11:28??AHRS

-----------?---------??----------?-----??----

???????????????214011????????????????????14