cmd_InertialNavigationDeadReckon.h

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/*
Inertial Navigation Dead Reckon command definition header file
 
Author: James Tabony
*/
 
#ifndef COMMAND_CMD_INERTIAL_NAVIGATION_DEAD_RECKON_H
#define COMMAND_CMD_INERTIAL_NAVIGATION_DEAD_RECKON_H
 
#include "flight/Command.h"
#include "apps/app_apids.h"
 
// Define the command base for the inerital nav dead reckon app
#define CMD_GNC_INERT_NAV_DEAD_RECKON_BASE    APP_APID_GNC_INERT_NAV_DEAD_RECKON + CMD_APID_BASE
 
 
// -------------------------------------------------------------------------------------
// INERTIAL NAVIGATION DEAD RECKON COMMAND APID DEFINITIONS
// -------------------------------------------------------------------------------------
#define CMD_GNC_INERT_NAV_DEAD_RECKON_SET_NOISE    CMD_GNC_INERT_NAV_DEAD_RECKON_BASE + 0x000

COMMAND(cmd_gnc_inert_nav_dead_reckon_set_noise, CMD_GNC_INERT_NAV_DEAD_RECKON_SET_NOISE, 52,
    ((std::array<float, 3>), vel_std),         // New velocity standard deviation provided as velocity of body wrt pseudo-inertial resolved in pseudo-inertial
    ((std::array<float, 4>), att_std),         // New attitude standard deviation provided as attitude of body wrt pseudo-inertial (quaternion)
    ((std::array<float, 3>), gyroBias_std),    // New gyroscope measurement bias standard deviation provided as angular velocity of body wrt pseudo-inertial resolved in body
    ((std::array<float, 3>), accelBias_std)    // New accelerometer measurement bias standard deviation provided as acceleration of body wrt pseudo-inertial resolved in body
) 
 
#endif