void sim_overwrite_ahrs(void) { struct Int32Quat quat; QUAT_BFP_OF_REAL(quat, fdm.ltp_to_body_quat); stateSetNedToBodyQuat_i(&quat); struct Int32Rates rates; RATES_BFP_OF_REAL(rates, fdm.body_ecef_rotvel); stateSetBodyRates_i(&rates); }
static void gyro_cb(uint8_t sender_id __attribute__((unused)), uint32_t stamp __attribute__((unused)), struct Int32Rates *gyro) { stateSetBodyRates_i(gyro); }