ahrs_madgwick_wrapper.c File Reference

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

#include "modules/ahrs/ahrs_madgwick_wrapper.h"
#include "modules/ahrs/ahrs.h"
#include "modules/core/abi.h"
#include "mcu_periph/sys_time.h"
#include "message_pragmas.h"
#include "state.h"
#include "modules/datalink/telemetry.h"

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Macros
#define	AHRS_MADGWICK_IMU_ID   ABI_BROADCAST
	IMU (gyro, accel)
#define	AHRS_MADGWICK_MAG_ID   AHRS_MADGWICK_IMU_ID
	magnetometer

Functions
static void	compute_body_orientation_and_rates (void)
	Compute body orientation and rates from imu orientation and rates.
static void	send_att (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_madgwick_propagate on new gyro measurements.
static void	accel_cb (uint8_t sender_id, uint32_t stamp, struct Int32Vect3 *accel)
static void	aligner_cb (uint8_t sender_id, uint32_t stamp, struct Int32Rates *lp_gyro, struct Int32Vect3 *lp_accel, struct Int32Vect3 *lp_mag)
void	ahrs_madgwick_wrapper_init (void)
void	ahrs_madgwick_wrapper_enable (uint8_t enable)

Variables
uint8_t	ahrs_madgwick_enable
static uint32_t	ahrs_madgwick_last_stamp = 0
	last gyro msg timestamp
static uint8_t	ahrs_madgwick_id = AHRS_COMP_ID_MADGWICK
static abi_event	gyro_ev
static abi_event	accel_ev
static abi_event	aligner_ev

Detailed Description

Paparazzi specific wrapper to run Madgwick ahrs filter.

Definition in file ahrs_madgwick_wrapper.c.

Macro Definition Documentation

AHRS_MADGWICK_IMU_ID

#define AHRS_MADGWICK_IMU_ID   ABI_BROADCAST

IMU (gyro, accel)

Definition at line 88 of file ahrs_madgwick_wrapper.c.

AHRS_MADGWICK_MAG_ID

#define AHRS_MADGWICK_MAG_ID   AHRS_MADGWICK_IMU_ID

magnetometer

Definition at line 94 of file ahrs_madgwick_wrapper.c.

Function Documentation

accel_cb()

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

static

Definition at line 137 of file ahrs_madgwick_wrapper.c.

References ACCELS_FLOAT_OF_BFP, ahrs_madgwick, ahrs_madgwick_update_accel(), foo, and AhrsMadgwick::is_aligned.

Referenced by ahrs_madgwick_wrapper_init().

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ahrs_madgwick_wrapper_enable()

void ahrs_madgwick_wrapper_enable

(

uint8_t

enable

)

Definition at line 199 of file ahrs_madgwick_wrapper.c.

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

Referenced by ahrs_madgwick_wrapper_init().

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ahrs_madgwick_wrapper_init()

void ahrs_madgwick_wrapper_init

(

void

)

Definition at line 177 of file ahrs_madgwick_wrapper.c.

References ABI_BROADCAST, accel_cb(), accel_ev, AHRS_MADGWICK_IMU_ID, ahrs_madgwick_init(), ahrs_madgwick_wrapper_enable(), AHRS_PRIMARY, aligner_cb(), aligner_ev, DefaultPeriodic, foo, gyro_cb(), gyro_ev, register_periodic_telemetry(), send_att(), and send_filter_status().

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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 148 of file ahrs_madgwick_wrapper.c.

References ACCELS_FLOAT_OF_BFP, ahrs_madgwick, ahrs_madgwick_align(), compute_body_orientation_and_rates(), foo, AhrsMadgwick::is_aligned, and RATES_FLOAT_OF_BFP.

Referenced by ahrs_madgwick_wrapper_init().

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compute_body_orientation_and_rates()

static void compute_body_orientation_and_rates ( void  )

static

Compute body orientation and rates from imu orientation and rates.

Definition at line 167 of file ahrs_madgwick_wrapper.c.

References ahrs_madgwick, foo, AhrsMadgwick::quat, AhrsMadgwick::rates, stateSetBodyRates_f(), and stateSetNedToBodyQuat_f().

Referenced by aligner_cb(), and gyro_cb().

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gyro_cb()

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

static

Call ahrs_madgwick_propagate on new gyro measurements.

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

Definition at line 107 of file ahrs_madgwick_wrapper.c.

References ahrs_madgwick, ahrs_madgwick_last_stamp, ahrs_madgwick_propagate(), AHRS_PROPAGATE_FREQUENCY, compute_body_orientation_and_rates(), foo, AhrsMadgwick::is_aligned, PRINT_CONFIG_MSG(), PRINT_CONFIG_VAR(), and RATES_FLOAT_OF_BFP.

Referenced by ahrs_madgwick_wrapper_init().

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send_att()

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

static

Definition at line 46 of file ahrs_madgwick_wrapper.c.

References ahrs_madgwick, ahrs_madgwick_id, dev, EULERS_BFP_OF_REAL, float_eulers_of_quat(), foo, and AhrsMadgwick::quat.

Referenced by ahrs_madgwick_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 70 of file ahrs_madgwick_wrapper.c.

References ahrs_madgwick, ahrs_madgwick_id, ahrs_madgwick_last_stamp, dev, foo, get_sys_time_usec(), AhrsMadgwick::is_aligned, and val.

Referenced by ahrs_madgwick_wrapper_init().

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Variable Documentation

accel_ev

abi_event accel_ev

static

Definition at line 99 of file ahrs_madgwick_wrapper.c.

Referenced by ahrs_madgwick_wrapper_init().

ahrs_madgwick_enable

uint8_t ahrs_madgwick_enable

Definition at line 36 of file ahrs_madgwick_wrapper.c.

Referenced by ahrs_madgwick_wrapper_enable().

ahrs_madgwick_id

uint8_t ahrs_madgwick_id = AHRS_COMP_ID_MADGWICK

static

Definition at line 39 of file ahrs_madgwick_wrapper.c.

Referenced by send_att(), and send_filter_status().

ahrs_madgwick_last_stamp

uint32_t ahrs_madgwick_last_stamp = 0

static

last gyro msg timestamp

Definition at line 38 of file ahrs_madgwick_wrapper.c.

Referenced by gyro_cb(), and send_filter_status().

aligner_ev

abi_event aligner_ev

static

Definition at line 100 of file ahrs_madgwick_wrapper.c.

Referenced by ahrs_madgwick_wrapper_init().

gyro_ev

abi_event gyro_ev

static

Definition at line 98 of file ahrs_madgwick_wrapper.c.

Referenced by ahrs_madgwick_wrapper_init().