data_structures.h

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/***********************************************************************/
#ifndef DATA_STRUCTURES_H_
#define DATA_STRUCTURES_H_
 
#include "system_configuration.h"
#include "AHRS.h"
#include "GNSS.h"
 
#pragma pack(push, 1)
 
typedef struct
{
  float3vector acc;   //XSENSE MTi1 IMU
  float3vector gyro;  //XSENSE MTi1 IMU
  float3vector mag;   //XSENSE MTi1 IMU
#if WITH_LOWCOST_SENSORS
  float3vector lowcost_acc;
  float3vector lowcost_gyro;
  float3vector lowcost_mag;
#endif
  float pitot_pressure;
  float static_pressure;
#if WITH_LOWCOST_SENSORS
  float absolute_pressure;  //this is the second ms5611 on the PCB.
#endif
  float static_sensor_temperature;  //log temperature to monitor temperature in enclosure
#if WITH_LOWCOST_SENSORS
  float absolute_sensor_temperature;
#endif
  float supply_voltage;  //Measuring the supply voltage. Might be related to sensor noise.
#if WITH_DENSITY_DATA
  float outside_air_temperature; 
  float outside_air_humidity; 
#endif
} measurement_data_t;
 
typedef struct
{
  measurement_data_t m;
#if WITH_DENSITY_DUMMY
  float dummy1;
  float dummy2;
#endif
  coordinates_t c;
#if RUN_MICROPHONE
  float sound_intensity;
#endif
} observations_type;
 
typedef struct
{
  measurement_data_t m;
  coordinates_t c;
#if RUN_MICROPHONE
  float sound_intensity;
#endif
  float IAS;
  float TAS;
  float vario_uncompensated;
  float vario;
  float vario_pressure;
  float speed_compensation_TAS;
  float speed_compensation_GNSS;
  float integrator_vario;
  float3vector wind;
  float3vector wind_average;
  uint32_t circle_mode;
  quaternion<float> q;
  eulerangle<float> euler;
  float effective_vertical_acceleration;
  float turn_rate;
  float slip_angle;
  float pitch_angle;
  float G_load;
  float pressure_altitude;
  float air_density;
  float magnetic_disturbance;
  float3vector nav_acceleration_gnss;
  float3vector nav_induction_gnss;
 
#if DEVELOPMENT_ADDITIONS
  float3vector nav_correction;
  float3vector gyro_correction;
 
  float3vector nav_acceleration_mag;
  float3vector nav_induction_mag;
  eulerangle<float> euler_magnetic;
  quaternion<float> q_magnetic;
 
  float3vector body_acc;
  float3vector body_gyro;
  float HeadingDifferenceAhrsDgnss;
  float QFF;
  float satfix;
  float inst_wind_N;
  float inst_wind_E;
  float headwind;
  float crosswind;
  float inst_wind_corrected_N;
  float inst_wind_corrected_E;
  float speed_compensation[3];
  float cross_acc_correction;
  float vario_wind_N;
  float vario_wind_E;
  float3vector body_induction;
  float3vector body_induction_error;
  float gyro_correction_power;
#endif
 
} output_data_t;
 
#pragma pack(pop)
 
#endif /* DATA_STRUCTURES_H_ */