User`s manual

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AscTec Hummingbird with AutoPilot User’s Manual

C Data structures to be polled for information

struct LL_STATUS

{

//battery voltages in mV

short battery_voltage_1;

short battery_voltage_2;

//don’t care

short status;

//Controller cycles per second (should be ˜1000)

short cpu_load;

//don’t care

char compass_enabled;

char chksum_error;

char flying;

char motors_on;

short flightMode;

//Time motors are turning

short up_time;

};

struct IMU_RAWDATA

{

//pressure sensor 24-bit value, not scaled but bias free

int pressure;

//16-bit gyro readings; 32768 = 2.5V

short gyro_x;

short gyro_y;

short gyro_z;

//10-bit magnetic field sensor readings

short mag_x;

short mag_y;

short mag_z;

//16-bit accelerometer readings

short acc_x;

short acc_y;

short acc_z;

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