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

From: Felix Ruess
Subject: Re: [Paparazzi-devel] some problems about "ahrs_int_cmpl_quat.c"
Date: Mon, 12 May 2014 19:11:05 +0200

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: and the comments in the code:

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


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