Structure containing the Attitude and Heading Reference System. More...

#include <ahrs.h>

Collaboration diagram for ahrs_t:

Public Attributes
quat_t	qe
	quaternion defining the Attitude estimation of the platform

float	angular_speed [3]
	Gyro rates.

float	linear_acc [3]
	Acceleration WITHOUT gravity.

float	heading
	The heading of the platform.

quat_t	up_vec
	The quaternion of the up vector.

quat_t	north_vec
	The quaternion of the north vector.

uint32_t	last_update
	The time of the last IMU update in ms.

float	dt
	The time interval between two IMU updates.

Detailed Description

Structure containing the Attitude and Heading Reference System.

The documentation for this struct was generated from the following file:

Public Attributes