The simulation model structure definition. More...

#include <simulation.h>

Collaboration diagram for simulation_model_t:

Public Attributes
float	torques_bf [3]
	The 3D torques vector applied on the vehicle.

float	rates_bf [3]
	The 3D angular rates vector.

float	lin_forces_bf [3]
	The 3D linear forces vector in body frame.

float	vel_bf [3]
	The 3D velocity vector in body frame.

float	vel [3]
	The 3D velocity vector in NED frame.

ahrs_t	ahrs
	The simulated attitude estimation.

local_coordinates_t	local_position
	The simulated local position.

sensor_calib_t	calib_gyro
	The calibration values of the gyroscope.

sensor_calib_t	calib_accelero
	The calibration values of the accelerometer.

sensor_calib_t	calib_compass
	The calibration values of the compass.

float	rotorspeeds [ROTORCOUNT]
	The estimated rotor speeds.

simulation_config_t	vehicle_config
	The vehicle configuration variables.

uint32_t	last_update
	The last update in system ticks.

float	dt
	The time base of current update.

imu_t *	imu
	The pointer to the IMU structure.

position_estimation_t *	pos_est
	The pointer to the position estimation structure.

barometer_t *	pressure
	The pointer to the barometer structure.

gps_t *	gps
	The pointer to the GPS structure.

const servos_t *	servos
	The pointer to the servos structure.

const ahrs_t *	estimated_attitude
	The pointer to the attitude estimation structure.

bool *	nav_plan_active
	The pointer to the waypoint set flag.

Detailed Description

The simulation model structure definition.

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

Public Attributes