/**
?******************************************************************************
?*?@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
-----------?---------??----------?-----??----
?????目錄???????????0??2012-04-05?19:30??flight\
?????目錄???????????0??2011-12-27?15:44??flight\AHRS\
?????文件???????42418??2011-12-27?14:57??flight\AHRS\ahrs.c
?????文件????????1865??2011-12-27?14:57??flight\AHRS\ahrs_timer.c
?????目錄???????????0??2011-12-27?15:44??flight\AHRS\inc\
?????文件????????2510??2011-12-27?14:57??flight\AHRS\inc\ahrs.h
?????文件????????2977??2011-12-27?14:57??flight\AHRS\inc\ahrs_fsm.h
?????文件????????1489??2011-12-27?14:57??flight\AHRS\inc\ahrs_timer.h
?????文件????????3071??2011-12-27?14:57??flight\AHRS\inc\insgps.h
?????文件????????1666??2011-12-27?14:57??flight\AHRS\inc\pios_config.h
?????文件???????62531??2011-12-27?14:57??flight\AHRS\insgps13state.c
?????文件???????69599??2011-12-27?14:57??flight\AHRS\insgps16state.c
?????文件???????13440??2011-12-27?14:57??flight\AHRS\Makefile
?????文件???????11588??2011-12-27?14:57??flight\AHRS\pios_board.c
?????文件?????????839??2011-12-27?14:57??flight\AHRS\test.c
?????目錄???????????0??2011-12-27?15:44??flight\Bootloaders\
?????目錄???????????0??2011-12-27?15:44??flight\Bootloaders\AHRS\
?????文件?????????948??2011-12-27?14:57??flight\Bootloaders\AHRS\ahrs_slave_test.c
?????文件????????3731??2011-12-27?14:57??flight\Bootloaders\AHRS\ahrs_spi_program.c
?????文件????????4243??2011-12-27?14:57??flight\Bootloaders\AHRS\ahrs_spi_program_master.c
?????文件????????3782??2011-12-27?14:57??flight\Bootloaders\AHRS\ahrs_spi_program_slave.c
?????文件???????17754??2011-12-27?14:57??flight\Bootloaders\AHRS\bl_fsm.c
?????目錄???????????0??2011-12-27?15:44??flight\Bootloaders\AHRS\inc\
?????文件????????1693??2011-12-27?14:57??flight\Bootloaders\AHRS\inc\ahrs_bl.h
?????文件????????2133??2011-12-27?14:57??flight\Bootloaders\AHRS\inc\ahrs_spi_program.h
?????文件????????2076??2011-12-27?14:57??flight\Bootloaders\AHRS\inc\ahrs_spi_program_master.h
?????文件????????1432??2011-12-27?14:57??flight\Bootloaders\AHRS\inc\ahrs_spi_program_slave.h
?????文件????????3014??2011-12-27?14:57??flight\Bootloaders\AHRS\inc\bl_fsm.h
?????文件????????1549??2011-12-27?14:57??flight\Bootloaders\AHRS\inc\pios_config.h
?????文件????????8578??2011-12-27?14:57??flight\Bootloaders\AHRS\main.c
?????文件???????13413??2011-12-27?14:57??flight\Bootloaders\AHRS\Makefile
............此處省略809個文件信息