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ahrs_int_cmpl_euler_wrapper.c File Reference

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

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Macros

#define AHRS_ICE_OUTPUT_ENABLED   TRUE
 
#define AHRS_ICE_IMU_ID   ABI_BROADCAST
 ABI binding for IMU data. More...
 
#define AHRS_ICE_MAG_ID   AHRS_ICE_IMU_ID
 ABI binding for magnetometer data. More...
 

Functions

static void set_body_state_from_euler (void)
 
static void send_filter (struct transport_tx *trans, struct link_device *dev)
 
static void send_euler (struct transport_tx *trans, struct link_device *dev)
 
static void send_bias (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)
 
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 bool ahrs_ice_enable_output (bool enable)
 
void ahrs_ice_register (void)
 

Variables

static bool ahrs_ice_output_enabled
 if TRUE with push the estimation results to the state interface More...
 
static uint32_t ahrs_ice_last_stamp
 
static uint8_t ahrs_ice_id = AHRS_COMP_ID_ICE
 
static abi_event gyro_ev
 
static abi_event accel_ev
 
static abi_event mag_ev
 
static abi_event aligner_ev
 
static abi_event body_to_imu_ev
 

Detailed Description

Paparazzi specific wrapper to run floating point complementary filter.

Definition in file ahrs_int_cmpl_euler_wrapper.c.

Macro Definition Documentation

#define AHRS_ICE_IMU_ID   ABI_BROADCAST

ABI binding for IMU data.

Used for gyro, accel ABI messages.

Definition at line 106 of file ahrs_int_cmpl_euler_wrapper.c.

Referenced by ahrs_ice_register().

#define AHRS_ICE_MAG_ID   AHRS_ICE_IMU_ID

ABI binding for magnetometer data.

Used for IMU_MAG_INT32 ABI messages.

Definition at line 113 of file ahrs_int_cmpl_euler_wrapper.c.

Referenced by ahrs_ice_register().

#define AHRS_ICE_OUTPUT_ENABLED   TRUE

Definition at line 33 of file ahrs_int_cmpl_euler_wrapper.c.

Referenced by ahrs_ice_register().

Function Documentation

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

Definition at line 133 of file ahrs_int_cmpl_euler_wrapper.c.

References ahrs_ice, ahrs_ice_update_accel(), and AhrsIntCmplEuler::is_aligned.

Referenced by ahrs_ice_register().

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static bool ahrs_ice_enable_output ( bool  enable)
static

Definition at line 169 of file ahrs_int_cmpl_euler_wrapper.c.

References ahrs_ice_output_enabled.

Referenced by ahrs_ice_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 151 of file ahrs_int_cmpl_euler_wrapper.c.

References ahrs_ice, ahrs_ice_align(), AhrsIntCmplEuler::is_aligned, and set_body_state_from_euler().

Referenced by ahrs_ice_register().

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

Definition at line 163 of file ahrs_int_cmpl_euler_wrapper.c.

References ahrs_ice_set_body_to_imu_quat().

Referenced by ahrs_ice_register().

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

Definition at line 123 of file ahrs_int_cmpl_euler_wrapper.c.

References ahrs_ice, ahrs_ice_propagate(), AhrsIntCmplEuler::is_aligned, and set_body_state_from_euler().

Referenced by ahrs_ice_register().

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

Definition at line 142 of file ahrs_int_cmpl_euler_wrapper.c.

References ahrs_ice, ahrs_ice_update_mag(), and AhrsIntCmplEuler::is_aligned.

Referenced by ahrs_ice_register().

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

Definition at line 83 of file ahrs_int_cmpl_euler_wrapper.c.

References ahrs_ice, ahrs_ice_id, AhrsIntCmplEuler::gyro_bias, Int32Rates::p, Int32Rates::q, and Int32Rates::r.

Referenced by ahrs_ice_register().

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

Definition at line 70 of file ahrs_int_cmpl_euler_wrapper.c.

References ahrs_ice, ahrs_ice_id, AhrsIntCmplEuler::ltp_to_imu_euler, Int32Eulers::phi, Int32Eulers::psi, stateGetNedToBodyEulers_i(), and Int32Eulers::theta.

Referenced by ahrs_ice_register().

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static void send_filter ( 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 90 of file ahrs_int_cmpl_euler_wrapper.c.

References ahrs_ice, ahrs_ice_id, ahrs_ice_last_stamp, get_sys_time_usec(), AhrsIntCmplEuler::is_aligned, and val.

Referenced by ahrs_ice_register().

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static void set_body_state_from_euler ( void  )
static

Variable Documentation

abi_event accel_ev
static

Definition at line 117 of file ahrs_int_cmpl_euler_wrapper.c.

Referenced by ahrs_ice_register().

uint8_t ahrs_ice_id = AHRS_COMP_ID_ICE
static
uint32_t ahrs_ice_last_stamp
static

Definition at line 39 of file ahrs_int_cmpl_euler_wrapper.c.

Referenced by send_filter_status().

bool ahrs_ice_output_enabled
static

if TRUE with push the estimation results to the state interface

Definition at line 38 of file ahrs_int_cmpl_euler_wrapper.c.

Referenced by ahrs_ice_enable_output().

abi_event aligner_ev
static

Definition at line 119 of file ahrs_int_cmpl_euler_wrapper.c.

Referenced by ahrs_ice_register().

abi_event body_to_imu_ev
static

Definition at line 120 of file ahrs_int_cmpl_euler_wrapper.c.

Referenced by ahrs_ice_register().

abi_event gyro_ev
static

Definition at line 116 of file ahrs_int_cmpl_euler_wrapper.c.

Referenced by ahrs_ice_register().

abi_event mag_ev
static

Definition at line 118 of file ahrs_int_cmpl_euler_wrapper.c.

Referenced by ahrs_ice_register().