Revision 74c0e6394dc5a2a6fb703406de719b47a626cb3b authored by ziqingma on 22 October 2023, 21:33:01 UTC, committed by ziqingma on 23 October 2023, 08:42:43 UTC
CG shift due to tilt issue, add takeoff test flightplan in cyberzoo Update guidance_indi.c
1 parent 6b317f2
nps_sensor_gps.h
#ifndef NPS_SENSOR_GPS_H
#define NPS_SENSOR_GPS_H
#include <glib.h>
#include "math/pprz_algebra.h"
#include "math/pprz_algebra_double.h"
#include "math/pprz_algebra_float.h"
#include "math/pprz_geodetic_double.h"
#include "std.h"
struct NpsSensorGps {
struct EcefCoor_d ecef_pos;
struct EcefCoor_d ecef_vel;
struct LlaCoor_d lla_pos;
double hmsl;
struct DoubleVect3 pos_noise_std_dev;
struct DoubleVect3 speed_noise_std_dev;
struct DoubleVect3 pos_bias_initial;
struct DoubleVect3 pos_bias_random_walk_std_dev;
struct DoubleVect3 pos_bias_random_walk_value;
double pos_latency;
double speed_latency;
GSList *hmsl_history;
GSList *pos_history;
GSList *lla_history;
GSList *speed_history;
double next_update;
bool data_available;
};
extern void nps_sensor_gps_init(struct NpsSensorGps *gps, double time);
extern void nps_sensor_gps_run_step(struct NpsSensorGps *gps, double time);
#endif /* NPS_SENSOR_GPS_H */
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