Re: [Paparazzi-devel] some problems about "ahrs_int_cmpl_quat.c"

[Felix Ruess]

Hi Mike,

ahrs_impl is an abbreviation for ahrs_implementation which holds the implementation/algorithm specific data.
ltp_vel_norm stands for LTP (LocalTangentPlane) velocity norm, meaning the norm/magnitude of the velocity (=speed), the valid flag for this indicates if this value is well, available and valid (e.g. from GPS).

Also see the docs: http://docs.paparazziuav.org/latest/structAhrsIntCmplQuat.html and the comments in the code: https://github.com/paparazzi/paparazzi/blob/master/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.c#L312

Cheers, Felix

On Sun, May 4, 2014 at 4:13 AM, Mike <address@hidden> wrote:

Hi all,
       In the ahrs_int_cmpl_quat.c, here is part of the code:
       void ahrs_init(void) {

  ahrs.status = AHRS_UNINIT;
  ahrs_impl.ltp_vel_norm_valid = FALSE;
        I know that the ahrs is a structure，ltp_vel_norm_valid is the member
of it; But I do not know the meaning; what are the meaning of "ahrs_impl"
and "ltp_vel_norm_valid"respectively?  And what the full name of the two
variables?

Mike
Thanks



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