Inertial Measurement Unit interface. More...

#include "math/pprz_algebra_int.h"
#include "math/pprz_algebra_float.h"
#include "math/pprz_orientation_conversion.h"
#include "filters/low_pass_filter.h"
#include "generated/airframe.h"

Include dependency graph for imu.h:

Go to the source code of this file.

Data Structures
struct	imu_calib_t

struct	imu_gyro_t

struct	imu_accel_t

struct	imu_mag_t

struct	Imu
	abstract IMU interface providing fixed point interface More...

Macros
#define	IMU_MAX_SENSORS 4

Functions
void	imu_init (void)
	External functions. More...

void	imu_set_defaults_gyro (uint8_t abi_id, const struct Int32RMat imu_to_sensor, const struct Int32Rates neutral, const struct Int32Rates *scale)
	Set the defaults for a gyro sensor WARNING: Should be called before sensor is publishing messages to ensure correct values. More...

void	imu_set_defaults_accel (uint8_t abi_id, const struct Int32RMat imu_to_sensor, const struct Int32Vect3 neutral, const struct Int32Vect3 *scale)
	Set the defaults for a accel sensor WARNING: Should be called before sensor is publishing messages to ensure correct values. More...

void	imu_set_defaults_mag (uint8_t abi_id, const struct Int32RMat imu_to_sensor, const struct Int32Vect3 neutral, const struct Int32Vect3 *scale)
	Set the defaults for a mag sensor WARNING: Should be called before sensor is publishing messages to ensure correct values. More...

struct imu_gyro_t *	imu_get_gyro (uint8_t sender_id, bool create)
	Find or create the gyro in the imu structure. More...

struct imu_accel_t *	imu_get_accel (uint8_t sender_id, bool create)
	Find or create the accel in the imu structure. More...

struct imu_mag_t *	imu_get_mag (uint8_t sender_id, bool create)
	Find or create the mag in the imu structure. More...

void	imu_SetBodyToImuPhi (float phi)

void	imu_SetBodyToImuTheta (float theta)

void	imu_SetBodyToImuPsi (float psi)

void	imu_SetBodyToImuCurrent (float set)

void	imu_ResetBodyToImu (float reset)

Variables
struct Imu	imu
	global IMU state More...

Detailed Description

Inertial Measurement Unit interface.

Definition in file imu.h.

Data Structure Documentation

◆ imu_calib_t

struct imu_calib_t

Definition at line 41 of file imu.h.

Data Fields
bool	current: 1	Current calibrated.
bool	filter: 1	Enable the lowpass filter.
bool	neutral: 1	Neutral values calibrated.
bool	rotation: 1	Rotation calibrated.
bool	scale: 1	Scale calibrated.

◆ imu_gyro_t

struct imu_gyro_t

Definition at line 49 of file imu.h.

Collaboration diagram for imu_gyro_t:

Data Fields
uint8_t	abi_id	ABI sensor ID.
struct Int32RMat	body_to_sensor	Rotation from body to sensor frame (body to imu combined with imu to sensor)
struct imu_calib_t	calibrated	Calibration bitmask.
Butterworth2LowPass	filter[3]	Lowpass filter optional.
float	filter_freq	Filter frequency.
float	filter_sample_freq	Lowpass filter sample frequency (Hz)
uint32_t	last_stamp	Last measurement timestamp for integration.
struct Int32Rates	neutral	Neutral values, compensation on unscaled->scaled.
struct Int32Rates	scale[2]	Scaling, first is numerator and second denominator.
struct Int32Rates	scaled	Last scaled values in body frame.
float	temperature	Temperature in degrees celcius.
struct Int32Rates	unscaled	Last unscaled values in sensor frame.

◆ imu_accel_t

struct imu_accel_t

Definition at line 64 of file imu.h.

Collaboration diagram for imu_accel_t:

Data Fields
uint8_t	abi_id	ABI sensor ID.
struct Int32RMat	body_to_sensor	Rotation from body to sensor frame (body to imu combined with imu to sensor)
struct imu_calib_t	calibrated	Calibration bitmask.
Butterworth2LowPass	filter[3]	Lowpass filter optional.
float	filter_freq	Lowpass filter frequency (Hz)
float	filter_sample_freq	Lowpass filter sample frequency (Hz)
uint32_t	last_stamp	Last measurement timestamp for integration.
struct Int32Vect3	neutral	Neutral values, compensation on unscaled->scaled.
struct Int32Vect3	scale[2]	Scaling, first is numerator and second denominator.
struct Int32Vect3	scaled	Last scaled values in body frame.
float	temperature	Temperature in degrees celcius.
struct Int32Vect3	unscaled	Last unscaled values in sensor frame.

◆ imu_mag_t

struct imu_mag_t

Definition at line 79 of file imu.h.

Collaboration diagram for imu_mag_t:

Data Fields
uint8_t	abi_id	ABI sensor ID.
struct Int32RMat	body_to_sensor	Rotation from body to sensor frame (body to imu combined with imu to sensor)
struct imu_calib_t	calibrated	Calibration bitmask.
struct FloatVect3	current_scale	Current scaling multiplying.
struct Int32Vect3	neutral	Neutral values, compensation on unscaled->scaled.
struct Int32Vect3	scale[2]	Scaling, first is numerator and second denominator.
struct Int32Vect3	scaled	Last scaled values in body frame.
struct Int32Vect3	unscaled	Last unscaled values in sensor frame.

◆ Imu

struct Imu

abstract IMU interface providing fixed point interface

Definition at line 92 of file imu.h.

Collaboration diagram for Imu:

Data Fields
uint8_t	accel_abi_send_id	Filter out and send only a specific ABI id in telemetry for the accelerometer.
struct imu_accel_t	accels[IMU_MAX_SENSORS]	The accelerometer sensors.
bool	b2i_set_current	flag for adjusting body_to_imu via settings. if FALSE, reset to airframe values, if TRUE set current roll/pitch
struct OrientationReps	body_to_imu	Rotation from body to imu (all sensors) frame.
uint8_t	gyro_abi_send_id	Filter out and send only a specific ABI id in telemetry for the gyro.
struct imu_gyro_t	gyros[IMU_MAX_SENSORS]	The gyro sensors.
bool	initialized	Check if the IMU is initialized.
uint8_t	mag_abi_send_id	Filter out and send only a specific ABI id in telemetry for the magnetometer.
struct imu_mag_t	mags[IMU_MAX_SENSORS]	The magnetometer sensors.

Macro Definition Documentation

◆ IMU_MAX_SENSORS

#define IMU_MAX_SENSORS 4

Definition at line 38 of file imu.h.

Function Documentation

◆ imu_get_accel()

struct imu_accel_t* imu_get_accel	(	uint8_t	sender_id,
		bool	create
	)

Find or create the accel in the imu structure.

Parameters

sender_id	The ABI sender id to search for
create	Create a new index if not found

Returns: struct imu_accel_t* The accel structure if found/created else NULL

Definition at line 818 of file imu.c.

References ABI_BROADCAST, ABI_DISABLE, imu_accel_t::abi_id, Imu::accels, imu, and IMU_MAX_SENSORS.

Referenced by ahrs_aligner_run(), high_speed_logger_spi_link_periodic(), imu_accel_raw_cb(), imu_quality_assessment_periodic(), and imu_set_defaults_accel().

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◆ imu_get_gyro()

struct imu_gyro_t* imu_get_gyro	(	uint8_t	sender_id,
		bool	create
	)

Find or create the gyro in the imu structure.

Parameters

sender_id	The ABI sender id to search for
create	Create a new index if not found

Returns: struct imu_gyro_t* The gyro structure if found/created else NULL

Definition at line 795 of file imu.c.

References ABI_BROADCAST, ABI_DISABLE, imu_gyro_t::abi_id, Imu::gyros, imu, and IMU_MAX_SENSORS.

Referenced by ahrs_aligner_run(), high_speed_logger_spi_link_periodic(), imu_gyro_raw_cb(), imu_set_defaults_gyro(), and send_aligner().

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◆ imu_get_mag()

struct imu_mag_t* imu_get_mag	(	uint8_t	sender_id,
		bool	create
	)

Find or create the mag in the imu structure.

Parameters

sender_id	The ABI sender id to search for
create	Create a new index if not found

Returns: struct imu_mag_t* The mag structure if found/created else NULL

Definition at line 842 of file imu.c.

References ABI_BROADCAST, ABI_DISABLE, imu_mag_t::abi_id, imu, IMU_MAX_SENSORS, and Imu::mags.

Referenced by ahrs_aligner_run(), high_speed_logger_spi_link_periodic(), imu_mag_raw_cb(), and imu_set_defaults_mag().

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◆ imu_init()

void imu_init ( void )

External functions.

Definition at line 344 of file imu.c.

References ABI_BROADCAST, ABI_DISABLE, imu_gyro_t::abi_id, imu_accel_t::abi_id, imu_mag_t::abi_id, Imu::accel_abi_send_id, Imu::accels, Imu::body_to_imu, imu_gyro_t::body_to_sensor, imu_accel_t::body_to_sensor, imu_mag_t::body_to_sensor, imu_gyro_t::calibrated, imu_accel_t::calibrated, imu_mag_t::calibrated, imu_calib_t::current, imu_mag_t::current_scale, DefaultPeriodic, imu_calib_t::filter, imu_gyro_t::filter, imu_accel_t::filter, imu_gyro_t::filter_freq, imu_accel_t::filter_freq, imu_gyro_t::filter_sample_freq, imu_accel_t::filter_sample_freq, Imu::gyro_abi_send_id, Imu::gyros, imu, IMU_ACCEL_ABI_SEND_ID, IMU_ACCEL_CALIB, imu_accel_raw_cb(), imu_accel_raw_ev, IMU_ACCEL_X_SIGN, IMU_ACCEL_Y_SIGN, IMU_ACCEL_Z_SIGN, IMU_BODY_TO_IMU_PHI, IMU_BODY_TO_IMU_PSI, IMU_BODY_TO_IMU_THETA, IMU_GYRO_ABI_SEND_ID, IMU_GYRO_CALIB, IMU_GYRO_P_SIGN, IMU_GYRO_Q_SIGN, IMU_GYRO_R_SIGN, imu_gyro_raw_cb(), imu_gyro_raw_ev, IMU_MAG_ABI_SEND_ID, IMU_MAG_CALIB, imu_mag_raw_cb(), imu_mag_raw_ev, IMU_MAG_X_SIGN, IMU_MAG_Y_SIGN, IMU_MAG_Z_SIGN, IMU_MAX_SENSORS, init_butterworth_2_low_pass(), Imu::initialized, int32_rmat_comp(), int32_rmat_identity(), INT_RATES_ZERO, INT_VECT3_ZERO, imu_gyro_t::last_stamp, imu_accel_t::last_stamp, Imu::mag_abi_send_id, mag_calib, Imu::mags, imu_calib_t::neutral, imu_gyro_t::neutral, imu_accel_t::neutral, imu_mag_t::neutral, orientationGetRMat_i(), orientationSetEulers_f(), RATES_ASSIGN, register_periodic_telemetry(), RMAT_COPY, imu_calib_t::rotation, imu_calib_t::scale, imu_gyro_t::scale, imu_accel_t::scale, imu_mag_t::scale, send_accel(), send_accel_raw(), send_accel_scaled(), send_gyro(), send_gyro_raw(), send_gyro_scaled(), send_mag(), send_mag_current(), send_mag_raw(), send_mag_scaled(), and VECT3_ASSIGN.

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◆ imu_ResetBodyToImu()

void imu_ResetBodyToImu ( float reset )

◆ imu_set_defaults_accel()

void imu_set_defaults_accel	(	uint8_t	abi_id,
		const struct Int32RMat *	imu_to_sensor,
		const struct Int32Vect3 *	neutral,
		const struct Int32Vect3 *	scale
	)

Set the defaults for a accel sensor WARNING: Should be called before sensor is publishing messages to ensure correct values.

Parameters

abi_id	The ABI sender id to set the defaults for
imu_to_sensor	Imu to sensor rotation matrix
neutral	Neutral values
scale	Scale values, 0 index is multiply and 1 index is divide

Definition at line 521 of file imu.c.

References imu_accel_t::abi_id, Imu::body_to_imu, imu_accel_t::body_to_sensor, imu_accel_t::calibrated, imu, IMU_ACCEL_X_SIGN, IMU_ACCEL_Y_SIGN, IMU_ACCEL_Z_SIGN, imu_get_accel(), int32_rmat_comp(), imu_calib_t::neutral, imu_accel_t::neutral, orientationGetRMat_i(), RMAT_COPY, imu_calib_t::rotation, imu_accel_t::scale, scale, imu_calib_t::scale, VECT3_ASSIGN, and VECT3_COPY.

Referenced by imu_apogee_init(), imu_aspirin2_init(), imu_aspirin_i2c_init(), imu_aspirin_init(), imu_bebop_init(), imu_bmi088_init(), imu_cube_init(), imu_disco_init(), imu_mpu9250_init(), imu_mpu_hmc_init(), imu_mpu_i2c_init(), imu_mpu_spi_init(), imu_nps_init(), imu_pixhawk6x_init(), imu_px4_init(), imu_px4fmu_init(), invensense2_fix_config(), invensense3_fix_config(), navdata_init(), and sensors_hitl_init().

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◆ imu_set_defaults_gyro()

void imu_set_defaults_gyro	(	uint8_t	abi_id,
		const struct Int32RMat *	imu_to_sensor,
		const struct Int32Rates *	neutral,
		const struct Int32Rates *	scale
	)

Set the defaults for a gyro sensor WARNING: Should be called before sensor is publishing messages to ensure correct values.

Parameters

abi_id	The ABI sender id to set the defaults for
imu_to_sensor	Imu to sensor rotation matrix
neutral	Neutral values
scale	Scale values, 0 index is multiply and 1 index is divide

Definition at line 491 of file imu.c.

References imu_gyro_t::abi_id, Imu::body_to_imu, imu_gyro_t::body_to_sensor, imu_gyro_t::calibrated, imu, imu_get_gyro(), IMU_GYRO_P_SIGN, IMU_GYRO_Q_SIGN, IMU_GYRO_R_SIGN, int32_rmat_comp(), imu_calib_t::neutral, imu_gyro_t::neutral, orientationGetRMat_i(), RATES_ASSIGN, RATES_COPY, RMAT_COPY, imu_calib_t::rotation, scale, imu_calib_t::scale, and imu_gyro_t::scale.

Referenced by imu_apogee_init(), imu_aspirin2_init(), imu_aspirin_i2c_init(), imu_aspirin_init(), imu_bebop_init(), imu_bmi088_init(), imu_cube_init(), imu_disco_init(), imu_mpu9250_init(), imu_mpu_hmc_init(), imu_mpu_i2c_init(), imu_mpu_spi_init(), imu_nps_init(), imu_pixhawk6x_init(), imu_px4_init(), imu_px4fmu_init(), invensense2_fix_config(), invensense3_fix_config(), navdata_init(), and sensors_hitl_init().

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◆ imu_set_defaults_mag()

void imu_set_defaults_mag	(	uint8_t	abi_id,
		const struct Int32RMat *	imu_to_sensor,
		const struct Int32Vect3 *	neutral,
		const struct Int32Vect3 *	scale
	)

Set the defaults for a mag sensor WARNING: Should be called before sensor is publishing messages to ensure correct values.

Parameters

abi_id	The ABI sender id to set the defaults for
imu_to_sensor	Imu to sensor rotation matrix
neutral	Neutral values
scale	Scale values, 0 index is multiply and 1 index is divide

Definition at line 551 of file imu.c.

References imu_mag_t::abi_id, Imu::body_to_imu, imu_mag_t::body_to_sensor, imu_mag_t::calibrated, imu, imu_get_mag(), IMU_MAG_X_SIGN, IMU_MAG_Y_SIGN, IMU_MAG_Z_SIGN, int32_rmat_comp(), imu_calib_t::neutral, imu_mag_t::neutral, orientationGetRMat_i(), RMAT_COPY, imu_calib_t::rotation, imu_mag_t::scale, scale, imu_calib_t::scale, VECT3_ASSIGN, and VECT3_COPY.