User`s manual

AscTec Hummingbird with AutoPilot User’s Manual
//16-bit temperature measurement using yaw-gyro internal sensor
unsigned short temp_gyro;
//16-bit temperature measurement using ADC internal sensor
unsigned int temp_ADC;
};
struct IMU_CALCDATA
{
//angles derived by integration of gyro_outputs, drift compensated by data

→
fusion; -90000..+90000 pitch(nick) and roll, 0..360000 yaw; 1000 = 1 
→degree
int angle_nick;
int angle_roll;
int angle_yaw;
//angular velocities, raw values [16 bit] but bias free
int angvel_nick;
int angvel_roll;
int angvel_yaw;
//acc-sensor outputs, calibrated: -10000..+10000 = -1g..+1g
short acc_x_calib;
short acc_y_calib;
short acc_z_calib;
//horizontal / vertical accelerations: -10000..+10000 = -1g..+1g
short acc_x;
short acc_y;
short acc_z;
//reference angles derived by accelerations only: -90000..+90000; 1000 = 1

→
degree
int acc_angle_nick;
int acc_angle_roll;
//total acceleration measured (10000 = 1g)
int acc_absolute_value;
//magnetic field sensors output, offset free and scaled; units not

→
determined, as only the direction of the field vector is taken into 
→
account
int Hx;
int Hy;
int Hz;
//compass reading: angle reference for angle_yaw: 0..360000; 1000 = 1 degree
int mag_heading;
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