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ahrs_float_dcm_wrapper.c File Reference

Paparazzi specific wrapper to run floating point complementary filter. More...

#include "modules/ahrs/ahrs_float_dcm_wrapper.h"
#include "modules/ahrs/ahrs.h"
#include "modules/core/abi.h"
#include "state.h"
#include "modules/datalink/telemetry.h"
#include "mcu_periph/sys_time.h"
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Macros

#define AHRS_DCM_IMU_ID   ABI_BROADCAST
 ABI binding for IMU data.
 
#define AHRS_DCM_MAG_ID   AHRS_DCM_IMU_ID
 ABI binding for magnetometer data.
 
#define AHRS_DCM_GPS_ID   GPS_MULTI_ID
 ABI binding for gps data.
 

Functions

static void set_body_orientation_and_rates (void)
 Compute body orientation and rates from imu orientation and rates.
 
static void send_filter_status (struct transport_tx *trans, struct link_device *dev)
 
static void gyro_cb (uint8_t sender_id, uint32_t stamp, struct Int32Rates *gyro)
 
static void accel_cb (uint8_t sender_id, uint32_t stamp, struct Int32Vect3 *accel)
 
static void mag_cb (uint8_t sender_id, uint32_t stamp, struct Int32Vect3 *mag)
 
static void aligner_cb (uint8_t sender_id, uint32_t stamp, struct Int32Rates *lp_gyro, struct Int32Vect3 *lp_accel, struct Int32Vect3 *lp_mag)
 
static void gps_cb (uint8_t sender_id, uint32_t stamp, struct GpsState *gps_s)
 
void ahrs_dcm_wrapper_init (void)
 
void ahrs_float_dcm_wrapper_enable (uint8_t enable)
 

Variables

uint8_t ahrs_dcm_enable
 
static uint32_t ahrs_dcm_last_stamp
 
static uint8_t ahrs_dcm_id = AHRS_COMP_ID_DCM
 
static abi_event gyro_ev
 
static abi_event accel_ev
 
static abi_event mag_ev
 
static abi_event aligner_ev
 
static abi_event gps_ev
 

Detailed Description

Paparazzi specific wrapper to run floating point complementary filter.

Definition in file ahrs_float_dcm_wrapper.c.

Macro Definition Documentation

◆ AHRS_DCM_GPS_ID

#define AHRS_DCM_GPS_ID   GPS_MULTI_ID

ABI binding for gps data.

Used for GPS ABI messages.

Definition at line 74 of file ahrs_float_dcm_wrapper.c.

◆ AHRS_DCM_IMU_ID

#define AHRS_DCM_IMU_ID   ABI_BROADCAST

ABI binding for IMU data.

Used for gyro and accel ABI messages.

Definition at line 60 of file ahrs_float_dcm_wrapper.c.

◆ AHRS_DCM_MAG_ID

#define AHRS_DCM_MAG_ID   AHRS_DCM_IMU_ID

ABI binding for magnetometer data.

Used for IMU_MAG_INT32 ABI messages.

Definition at line 67 of file ahrs_float_dcm_wrapper.c.

Function Documentation

◆ accel_cb()

static void accel_cb ( uint8_t  sender_id,
uint32_t  stamp,
struct Int32Vect3 *  accel 
)
static

Definition at line 112 of file ahrs_float_dcm_wrapper.c.

References ACCELS_FLOAT_OF_BFP, ahrs_dcm, ahrs_dcm_update_accel(), foo, and AhrsFloatDCM::is_aligned.

Referenced by ahrs_dcm_wrapper_init().

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◆ ahrs_dcm_wrapper_init()

void ahrs_dcm_wrapper_init ( void  )

Definition at line 175 of file ahrs_float_dcm_wrapper.c.

References ABI_BROADCAST, accel_cb(), accel_ev, AHRS_DCM_GPS_ID, AHRS_DCM_IMU_ID, ahrs_dcm_init(), AHRS_DCM_MAG_ID, ahrs_float_dcm_wrapper_enable(), AHRS_PRIMARY, aligner_cb(), aligner_ev, DefaultPeriodic, foo, gps_cb(), gps_ev, gyro_cb(), gyro_ev, mag_cb(), mag_ev, register_periodic_telemetry(), and send_filter_status().

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◆ ahrs_float_dcm_wrapper_enable()

void ahrs_float_dcm_wrapper_enable ( uint8_t  enable)

Definition at line 198 of file ahrs_float_dcm_wrapper.c.

References ahrs_dcm_enable, foo, STATE_INPUT_ATTITUDE, STATE_INPUT_RATES, and stateSetInputFilter().

Referenced by ahrs_dcm_wrapper_init().

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◆ aligner_cb()

static void aligner_cb ( uint8_t  sender_id,
uint32_t  stamp,
struct Int32Rates *  lp_gyro,
struct Int32Vect3 *  lp_accel,
struct Int32Vect3 *  lp_mag 
)
static

Definition at line 134 of file ahrs_float_dcm_wrapper.c.

References ACCELS_FLOAT_OF_BFP, ahrs_dcm, ahrs_dcm_align(), foo, AhrsFloatDCM::is_aligned, MAGS_FLOAT_OF_BFP, RATES_FLOAT_OF_BFP, and set_body_orientation_and_rates().

Referenced by ahrs_dcm_wrapper_init().

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◆ gps_cb()

static void gps_cb ( uint8_t  sender_id,
uint32_t stamp  ,
struct GpsState *  gps_s 
)
static

Definition at line 154 of file ahrs_float_dcm_wrapper.c.

References ahrs_dcm_update_gps(), and foo.

Referenced by ahrs_dcm_wrapper_init().

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◆ gyro_cb()

static void gyro_cb ( uint8_t  sender_id,
uint32_t  stamp,
struct Int32Rates *  gyro 
)
static

Definition at line 84 of file ahrs_float_dcm_wrapper.c.

References ahrs_dcm, ahrs_dcm_last_stamp, ahrs_dcm_propagate(), AHRS_PROPAGATE_FREQUENCY, foo, AhrsFloatDCM::is_aligned, PRINT_CONFIG_MSG(), PRINT_CONFIG_VAR(), RATES_FLOAT_OF_BFP, and set_body_orientation_and_rates().

Referenced by ahrs_dcm_wrapper_init().

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◆ mag_cb()

static void mag_cb ( uint8_t  sender_id,
uint32_t  stamp,
struct Int32Vect3 *  mag 
)
static

Definition at line 123 of file ahrs_float_dcm_wrapper.c.

References ahrs_dcm, ahrs_dcm_update_mag(), foo, AhrsFloatDCM::is_aligned, and MAGS_FLOAT_OF_BFP.

Referenced by ahrs_dcm_wrapper_init().

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◆ send_filter_status()

static void send_filter_status ( struct transport_tx *  trans,
struct link_device *  dev 
)
static

Definition at line 44 of file ahrs_float_dcm_wrapper.c.

References ahrs_dcm, ahrs_dcm_id, ahrs_dcm_last_stamp, dev, foo, get_sys_time_usec(), AhrsFloatDCM::is_aligned, and val.

Referenced by ahrs_dcm_wrapper_init().

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◆ set_body_orientation_and_rates()

static void set_body_orientation_and_rates ( void  )
static

Compute body orientation and rates from imu orientation and rates.

Definition at line 164 of file ahrs_float_dcm_wrapper.c.

References ahrs_dcm, AhrsFloatDCM::body_rate, float_rmat_of_eulers, foo, AhrsFloatDCM::ltp_to_body_euler, stateSetBodyRates_f(), and stateSetNedToBodyRMat_f().

Referenced by aligner_cb(), and gyro_cb().

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Variable Documentation

◆ accel_ev

abi_event accel_ev
static

Definition at line 78 of file ahrs_float_dcm_wrapper.c.

Referenced by ahrs_dcm_wrapper_init().

◆ ahrs_dcm_enable

uint8_t ahrs_dcm_enable

Definition at line 34 of file ahrs_float_dcm_wrapper.c.

Referenced by ahrs_float_dcm_wrapper_enable().

◆ ahrs_dcm_id

uint8_t ahrs_dcm_id = AHRS_COMP_ID_DCM
static

Definition at line 36 of file ahrs_float_dcm_wrapper.c.

Referenced by send_filter_status().

◆ ahrs_dcm_last_stamp

uint32_t ahrs_dcm_last_stamp
static

Definition at line 35 of file ahrs_float_dcm_wrapper.c.

Referenced by gyro_cb(), and send_filter_status().

◆ aligner_ev

abi_event aligner_ev
static

Definition at line 80 of file ahrs_float_dcm_wrapper.c.

Referenced by ahrs_dcm_wrapper_init().

◆ gps_ev

abi_event gps_ev
static

Definition at line 81 of file ahrs_float_dcm_wrapper.c.

Referenced by ahrs_dcm_wrapper_init().

◆ gyro_ev

abi_event gyro_ev
static

Definition at line 77 of file ahrs_float_dcm_wrapper.c.

Referenced by ahrs_dcm_wrapper_init().

◆ mag_ev

abi_event mag_ev
static

Definition at line 79 of file ahrs_float_dcm_wrapper.c.

Referenced by ahrs_dcm_wrapper_init().