User`s manual

AscTec Hummingbird with AutoPilot User’s Manual

int latitude;

int longitude;

//GPS height in mm

int height;

//speed in x (E/W) and y(N/S) in mm/s

int speed_x;

int speed_y;

//GPS heading in deg

1000

int heading;

//accuracy estimates in mm and mm/s

unsigned int horizontal_accuracy;

unsigned int vertical_accuracy;

unsigned int speed_accuracy;

//number of satellite vehicles used in NAV solution

unsigned int numSV;

//GPS status information; 0x03 = valid GPS fix

int status;

//coordinates of current origin in deg

10ˆ7

int latitude_best_estimate;

int longitude_best_estimate;

//velocities in X (E/W) and Y (N/S) after data fusion

int speed_x_best_estimate;

int speed_y_best_estimate;

};

struct RC_DATA

{

//channels as read from R/C receiver

unsigned short channels_in[8];

//channels bias free, remapped and scaled to 0..4095

unsigned short channels_out[8];

//Indicator for valid R/C receiption

unsigned char lock;

};

struct CONTROLLER_OUTPUT

{

//attitude controller outputs; 0..200 = -100 ..+100%

int nick;

int roll;

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