ins_ekf2.h File Reference

INS based in the EKF2 of PX4. More...

#include "modules/ahrs/ahrs.h"
#include "modules/ins/ins.h"

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Data Structures
struct	ekf2_t

Functions
void	ins_ekf2_init (void)
void	ins_ekf2_update (void)
void	ins_ekf2_change_param (int32_t unk)
void	ins_ekf2_remove_gps (int32_t mode)
void	ins_ekf2_parse_EXTERNAL_POSE (uint8_t *buf)
void	ins_ekf2_parse_EXTERNAL_POSE_SMALL (uint8_t *buf)

Variables
struct ekf2_t	ekf2
	Local EKF2 status structure. More...

Detailed Description

INS based in the EKF2 of PX4.

Definition in file ins_ekf2.h.

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Data Structure Documentation

ekf2_t

struct ekf2_t

Definition at line 40 of file ins_ekf2.h.

Collaboration diagram for ekf2_t:

Data Fields
uint32_t	accel_dt	Accelerometer delta timestamp between abi messages (us)
bool	accel_valid	If we received a acceleration measurement.
struct FloatVect3	delta_accel	Last accelerometer measurements.
struct FloatRates	delta_gyro	Last gyroscope measurements.
uint32_t	flow_stamp	Optic flow last abi message timestamp.
int32_t	fusion_mode
bool	got_imu_data	If we received valid IMU data (any sensor)
uint32_t	gyro_dt	Gyroscope delta timestamp between abi messages (us)
bool	gyro_valid	If we received a gyroscope measurement.
struct LtpDef_i	ltp_def	Latest LTP definition from the quat_reset_counter EKF2.
uint64_t	ltp_stamp	Last LTP change timestamp from the EKF2.
int32_t	mag_fusion_type
float	qnh	QNH value in hPa.
uint8_t	quat_reset_counter	Amount of quaternion resets from the EKF2.
float	temp	Latest temperature measurement in degrees celcius.

Function Documentation

ins_ekf2_change_param()

void ins_ekf2_change_param

(

int32_t

unk

)

Definition at line 748 of file ins_ekf2.cpp.

References ekf2, ekf_params, and ekf2_t::mag_fusion_type.

ins_ekf2_init()

void ins_ekf2_init

(

void

)

Definition at line 525 of file ins_ekf2.cpp.

References accel_int_cb(), accel_int_ev, ekf2_t::accel_valid, agl_cb(), agl_ev, LlaCoor_i::alt, baro_cb(), baro_ev, DefaultPeriodic, ekf, ekf2, ekf_params, ekf2_t::flow_stamp, ekf2_t::got_imu_data, gps_cb(), gps_ev, gyro_int_cb(), gyro_int_ev, ekf2_t::gyro_valid, LtpDef_i::hmsl, INS_EKF2_ACCEL_ID, INS_EKF2_AGL_ID, INS_EKF2_BARO_ID, INS_EKF2_BARO_NOISE, INS_EKF2_FLOW_INNOV_GATE, INS_EKF2_FLOW_NOISE, INS_EKF2_FLOW_NOISE_QMIN, INS_EKF2_FLOW_POS_X, INS_EKF2_FLOW_POS_Y, INS_EKF2_FLOW_POS_Z, INS_EKF2_FLOW_SENSOR_DELAY, INS_EKF2_FUSION_MODE, INS_EKF2_GPS_CHECK_MASK, INS_EKF2_GPS_ID, INS_EKF2_GPS_P_NOISE, INS_EKF2_GPS_POS_X, INS_EKF2_GPS_POS_Y, INS_EKF2_GPS_POS_Z, INS_EKF2_GPS_V_NOISE, INS_EKF2_GYRO_ID, INS_EKF2_IMU_POS_X, INS_EKF2_IMU_POS_Y, INS_EKF2_IMU_POS_Z, INS_EKF2_MAG_ID, INS_EKF2_MAX_FLOW_RATE, INS_EKF2_MIN_FLOW_QUALITY, INS_EKF2_OF_ID, INS_EKF2_RANGE_MAIN_AGL, INS_EKF2_SONAR_MAX_RANGE, INS_EKF2_SONAR_MIN_RANGE, INS_EKF2_TEMPERATURE_ID, INS_EKF2_VDIST_SENSOR_TYPE, LlaCoor_i::lat, LlaCoor_i::lon, ekf2_t::ltp_def, ltp_def_from_lla_i(), ekf2_t::ltp_stamp, mag_cb(), mag_ev, optical_flow_cb(), optical_flow_ev, ekf2_t::qnh, ekf2_t::quat_reset_counter, register_periodic_telemetry(), sample_ev, send_ahrs_bias(), send_ahrs_quat(), send_external_pose_down(), send_filter_status(), send_ins(), send_ins_ekf2(), send_ins_ekf2_ext(), send_ins_ref(), send_ins_z(), send_wind_info_ret(), stateSetLocalOrigin_i(), ekf2_t::temp, temperature_cb(), temperature_ev, and waypoints_localize_all().

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ins_ekf2_parse_EXTERNAL_POSE()

void ins_ekf2_parse_EXTERNAL_POSE

(

uint8_t *

buf

)

Definition at line 762 of file ins_ekf2.cpp.

References ekf, float_quat_comp(), get_sys_time_usec(), INS_EKF2_EVA_NOISE, INS_EKF2_EVP_NOISE, INS_EKF2_EVV_NOISE, FloatQuat::qi, FloatQuat::qx, FloatQuat::qy, FloatQuat::qz, and sample_ev.

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ins_ekf2_parse_EXTERNAL_POSE_SMALL()

void ins_ekf2_parse_EXTERNAL_POSE_SMALL

(

uint8_t *

buf

)

Definition at line 796 of file ins_ekf2.cpp.

ins_ekf2_remove_gps()

void ins_ekf2_remove_gps

(

int32_t

mode

)

Definition at line 753 of file ins_ekf2.cpp.

References ekf2, ekf_params, ekf2_t::fusion_mode, INS_EKF2_FUSION_MODE, and mode.

ins_ekf2_update()

void ins_ekf2_update

(

void

)

Definition at line 671 of file ins_ekf2.cpp.

References LlaCoor_i::alt, autopilot_in_flight(), ekf, ekf2, ekf2_t::got_imu_data, LtpDef_i::hmsl, LlaCoor_i::lat, LlaCoor_i::lon, ekf2_t::ltp_def, ltp_def_from_lla_i(), ekf2_t::ltp_stamp, nps_bypass_ins, sim_overwrite_ins(), stateSetAccelNed_f(), stateSetLocalOrigin_i(), stateSetPositionNed_f(), stateSetSpeedNed_f(), waypoints_localize_all(), wgs84_ellipsoid_to_geoid_i(), NedCoor_f::x, NedCoor_f::y, and NedCoor_f::z.

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Variable Documentation

ekf2

struct ekf2_t ekf2

extern

Local EKF2 status structure.

Definition at line 310 of file ins_ekf2.cpp.

Referenced by accel_int_cb(), baro_cb(), gyro_int_cb(), ins_ekf2_change_param(), ins_ekf2_init(), ins_ekf2_publish_attitude(), ins_ekf2_remove_gps(), ins_ekf2_update(), ins_reset_altitude_ref(), ins_reset_local_origin(), mag_cb(), optical_flow_cb(), send_ins_ref(), and temperature_cb().