cmd_InertialNavigationBiasMeasurementUpdate.h

Go to the documentation of this file.

/******************************************************************************
* Copyright (c) ATTX INC 2025. All Rights Reserved.
*
* This software and associated documentation (the "Software") are the
* proprietary and confidential information of ATTX, INC. The Software is
* furnished under a license agreement between ATTX and the user organization
* and may be used or copied only in accordance with the terms of the agreement.
* Refer to 'license/attx_license.adoc' for standard license terms.
*
* EXPORT CONTROL NOTICE: THIS SOFTWARE MAY INCLUDE CONTENT CONTROLLED UNDER THE
* INTERNATIONAL TRAFFIC IN ARMS REGULATIONS (ITAR) OR THE EXPORT ADMINISTRATION
* REGULATIONS (EAR99). No part of the Software may be used, reproduced, or
* transmitted in any form or by any means, for any purpose, without the express
* written permission of ATTX, INC.
******************************************************************************/
/*
Inertial Navigation Bias Measurement Update command definition header file
 
Author: James Tabony
*/
 
#ifndef COMMAND_CMD_INERTIAL_NAVIGATION_BIAS_UPDATE_H
#define COMMAND_CMD_INERTIAL_NAVIGATION_BIAS_UPDATE_H
 
#include "flight/Command.h"
#include "apps/app_apids.h"
 
// Define the command base for the inertial nav gps update app
#define CMD_GNC_INERT_NAV_BIAS_UPDATE_BASE    APP_APID_GNC_INERT_NAV_BIAS_UPDATE + CMD_APID_BASE
 
 
// -------------------------------------------------------------------------------------
// INERTIAL NAVIGATION BIAS MEASUREMENT UPDATE COMMAND APID DEFINITIONS
// -------------------------------------------------------------------------------------
#define CMD_GNC_INERT_NAV_BIAS_UPDATE_SET_NOISE    CMD_GNC_INERT_NAV_BIAS_UPDATE_BASE + 0x000

COMMAND(cmd_gnc_inert_nav_bias_update_set_noise, CMD_GNC_INERT_NAV_BIAS_UPDATE_SET_NOISE, 12,
    ((std::array<float, 3>), gyro_std),     // New gyroscope measurement standard deviation resolved in IMU frame
    ((std::array<float, 3>), accel_std)     // New accelerometer measurement standard deviation resolved in IMU frame
) 
 
#endif