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ahrs_float_invariant_wrapper.c File Reference

Paparazzi specific wrapper to run INVARIANT ahrs filter. More...

#include "subsystems/ahrs/ahrs_float_invariant_wrapper.h"
#include "subsystems/ahrs.h"
#include "subsystems/abi.h"
#include "mcu_periph/sys_time.h"
#include "message_pragmas.h"
#include "state.h"
#include "subsystems/datalink/telemetry.h"
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Macros

#define AHRS_FINV_OUTPUT_ENABLED   TRUE
 
#define AHRS_FINV_IMU_ID   ABI_BROADCAST
 IMU (gyro, accel) More...
 
#define AHRS_FINV_MAG_ID   AHRS_FINV_IMU_ID
 magnetometer More...
 

Functions

static void compute_body_orientation_and_rates (void)
 Compute body orientation and rates from imu orientation and rates. More...
 
static void send_att (struct transport_tx *trans, struct link_device *dev)
 
static void send_geo_mag (struct transport_tx *trans, struct link_device *dev)
 
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)
 Call ahrs_float_invariant_propagate on new gyro measurements. More...
 
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 body_to_imu_cb (uint8_t sender_id, struct FloatQuat *q_b2i_f)
 
static void geo_mag_cb (uint8_t sender_id, struct FloatVect3 *h)
 
static bool ahrs_float_invariant_enable_output (bool enable)
 
void ahrs_float_invariant_register (void)
 

Variables

static bool ahrs_finv_output_enabled
 if TRUE with push the estimation results to the state interface More...
 
static uint32_t ahrs_finv_last_stamp = 0
 last gyro msg timestamp More...
 
static uint8_t ahrs_finv_id = AHRS_COMP_ID_FINV
 
static abi_event mag_ev
 
static abi_event gyro_ev
 
static abi_event accel_ev
 
static abi_event aligner_ev
 
static abi_event body_to_imu_ev
 
static abi_event geo_mag_ev
 

Detailed Description

Paparazzi specific wrapper to run INVARIANT ahrs filter.

Definition in file ahrs_float_invariant_wrapper.c.

Macro Definition Documentation

#define AHRS_FINV_IMU_ID   ABI_BROADCAST

IMU (gyro, accel)

Definition at line 104 of file ahrs_float_invariant_wrapper.c.

Referenced by ahrs_float_invariant_register().

#define AHRS_FINV_MAG_ID   AHRS_FINV_IMU_ID

magnetometer

Definition at line 110 of file ahrs_float_invariant_wrapper.c.

Referenced by ahrs_float_invariant_register().

#define AHRS_FINV_OUTPUT_ENABLED   TRUE

Definition at line 36 of file ahrs_float_invariant_wrapper.c.

Referenced by ahrs_float_invariant_register().

Function Documentation

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

Definition at line 156 of file ahrs_float_invariant_wrapper.c.

References ACCELS_FLOAT_OF_BFP, ahrs_float_inv, ahrs_float_invariant_update_accel(), and AhrsFloatInv::is_aligned.

Referenced by ahrs_float_invariant_register().

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static bool ahrs_float_invariant_enable_output ( bool  enable)
static

Definition at line 207 of file ahrs_float_invariant_wrapper.c.

References ahrs_finv_output_enabled.

Referenced by ahrs_float_invariant_register().

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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 178 of file ahrs_float_invariant_wrapper.c.

References ACCELS_FLOAT_OF_BFP, ahrs_float_inv, ahrs_float_invariant_align(), compute_body_orientation_and_rates(), AhrsFloatInv::is_aligned, MAGS_FLOAT_OF_BFP, and RATES_FLOAT_OF_BFP.

Referenced by ahrs_float_invariant_register().

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static void body_to_imu_cb ( uint8_t  sender_id,
struct FloatQuat q_b2i_f 
)
static

Definition at line 196 of file ahrs_float_invariant_wrapper.c.

References ahrs_float_inv_set_body_to_imu_quat().

Referenced by ahrs_float_invariant_register().

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static void compute_body_orientation_and_rates ( void  )
static

Compute body orientation and rates from imu orientation and rates.

Definition at line 216 of file ahrs_float_invariant_wrapper.c.

References ahrs_float_inv, inv_state::bias, AhrsFloatInv::body_to_imu, AhrsFloatInv::cmd, float_quat_comp_inv(), float_rmat_transp_ratemult(), orientationGetQuat_f(), orientationGetRMat_f(), inv_state::quat, inv_command::rates, RATES_DIFF, AhrsFloatInv::state, stateSetBodyRates_f(), and stateSetNedToBodyQuat_f().

Referenced by aligner_cb(), and gyro_cb().

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static void geo_mag_cb ( uint8_t  sender_id,
struct FloatVect3 h 
)
static

Definition at line 202 of file ahrs_float_invariant_wrapper.c.

References ahrs_float_inv, h(), and AhrsFloatInv::mag_h.

Referenced by ahrs_float_invariant_register().

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

Call ahrs_float_invariant_propagate on new gyro measurements.

Since acceleration measurement is also needed for propagation, use the last stored accel from #ahrs_finv_accel.

Definition at line 126 of file ahrs_float_invariant_wrapper.c.

References ahrs_float_inv, ahrs_float_invariant_propagate(), AHRS_PROPAGATE_FREQUENCY, compute_body_orientation_and_rates(), AhrsFloatInv::is_aligned, PRINT_CONFIG_MSG(), and RATES_FLOAT_OF_BFP.

Referenced by ahrs_float_invariant_register().

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

Definition at line 167 of file ahrs_float_invariant_wrapper.c.

References ahrs_float_inv, ahrs_float_invariant_update_mag(), AhrsFloatInv::is_aligned, and MAGS_FLOAT_OF_BFP.

Referenced by ahrs_float_invariant_register().

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

Definition at line 86 of file ahrs_float_invariant_wrapper.c.

References ahrs_finv_id, ahrs_finv_last_stamp, ahrs_float_inv, get_sys_time_usec(), AhrsFloatInv::is_aligned, and val.

Referenced by ahrs_float_invariant_register().

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

Definition at line 78 of file ahrs_float_invariant_wrapper.c.

References ahrs_finv_id, ahrs_float_inv, AhrsFloatInv::mag_h, FloatVect3::x, FloatVect3::y, and FloatVect3::z.

Referenced by ahrs_float_invariant_register().

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Variable Documentation

abi_event accel_ev
static

Definition at line 116 of file ahrs_float_invariant_wrapper.c.

Referenced by ahrs_float_invariant_register().

uint8_t ahrs_finv_id = AHRS_COMP_ID_FINV
static

Definition at line 44 of file ahrs_float_invariant_wrapper.c.

Referenced by send_att(), send_filter_status(), and send_geo_mag().

uint32_t ahrs_finv_last_stamp = 0
static

last gyro msg timestamp

Definition at line 43 of file ahrs_float_invariant_wrapper.c.

Referenced by send_filter_status().

bool ahrs_finv_output_enabled
static

if TRUE with push the estimation results to the state interface

Definition at line 41 of file ahrs_float_invariant_wrapper.c.

Referenced by ahrs_float_invariant_enable_output().

abi_event aligner_ev
static

Definition at line 117 of file ahrs_float_invariant_wrapper.c.

Referenced by ahrs_float_invariant_register().

abi_event body_to_imu_ev
static

Definition at line 118 of file ahrs_float_invariant_wrapper.c.

Referenced by ahrs_float_invariant_register().

abi_event geo_mag_ev
static

Definition at line 119 of file ahrs_float_invariant_wrapper.c.

Referenced by ahrs_float_invariant_register().

abi_event gyro_ev
static

Definition at line 115 of file ahrs_float_invariant_wrapper.c.

Referenced by ahrs_float_invariant_register().

abi_event mag_ev
static

Definition at line 114 of file ahrs_float_invariant_wrapper.c.

Referenced by ahrs_float_invariant_register().