ins_ext_pose.h File Reference

Integrated Navigation System interface. More...

#include "std.h"
#include "generated/airframe.h"
#include <stdio.h>

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Enumerations
enum	ins_ext_pose_state {   EKF_X_POS_X , EKF_X_POS_Y , EKF_X_POS_Z , EKF_X_VEL_X ,   EKF_X_VEL_Y , EKF_X_VEL_Z , EKF_X_PHI , EKF_X_THETA ,   EKF_X_PSI , EKF_X_A_BIAS_X , EKF_X_A_BIAS_Y , EKF_X_A_BIAS_Z ,   EKF_X_G_BIAS_P , EKF_X_G_BIAS_Q , EKF_X_G_BIAS_R , EKF_NUM_STATES }
enum	ins_ext_pose_inputs {   EKF_U_ACC_X , EKF_U_ACC_Y , EKF_U_ACC_Z , EKF_U_GYRO_P ,   EKF_U_GYRO_Q , EKF_U_GYRO_R , EKF_NUM_INPUTS }
enum	ins_ext_pose_outputs {   EKF_Z_POS_X , EKF_Z_POS_Y , EKF_Z_POS_Z , EKF_Z_PHI ,   EKF_Z_THETA , EKF_Z_PSI , EKF_NUM_OUTPUTS }

Functions
void	ins_ext_pose_init (void)
	Module.
void	ins_ext_pose_run (void)
void	ins_ext_pose_msg_update (uint8_t *buf)
	Import External Pose Message.
void	ins_ext_pose_log_header (FILE *file)
	Logging.
void	ins_ext_pose_log_data (FILE *file)

Variables
float	ekf_X [EKF_NUM_STATES]

Detailed Description

Integrated Navigation System interface.

Definition in file ins_ext_pose.h.

Enumeration Type Documentation

ins_ext_pose_inputs

enum ins_ext_pose_inputs

Enumerator
EKF_U_ACC_X
EKF_U_ACC_Y
EKF_U_ACC_Z
EKF_U_GYRO_P
EKF_U_GYRO_Q
EKF_U_GYRO_R
EKF_NUM_INPUTS

Definition at line 58 of file ins_ext_pose.h.

ins_ext_pose_outputs

enum ins_ext_pose_outputs

Enumerator
EKF_Z_POS_X
EKF_Z_POS_Y
EKF_Z_POS_Z
EKF_Z_PHI
EKF_Z_THETA
EKF_Z_PSI
EKF_NUM_OUTPUTS

Definition at line 68 of file ins_ext_pose.h.

ins_ext_pose_state

enum ins_ext_pose_state

Enumerator
EKF_X_POS_X
EKF_X_POS_Y
EKF_X_POS_Z
EKF_X_VEL_X
EKF_X_VEL_Y
EKF_X_VEL_Z
EKF_X_PHI
EKF_X_THETA
EKF_X_PSI
EKF_X_A_BIAS_X
EKF_X_A_BIAS_Y
EKF_X_A_BIAS_Z
EKF_X_G_BIAS_P
EKF_X_G_BIAS_Q
EKF_X_G_BIAS_R
EKF_NUM_STATES

Definition at line 39 of file ins_ext_pose.h.

Function Documentation

ins_ext_pose_init()

void ins_ext_pose_init ( void  )

extern

Module.

Definition at line 283 of file ins_ext_pose.c.

References accel_cb(), accel_ev, DefaultPeriodic, ekf_init(), foo, gyro_cb(), gyro_ev, InsExtPose::has_new_acc, InsExtPose::has_new_ext_pose, InsExtPose::has_new_gyro, ins_ext_pose, INS_EXT_POSE_IMU_ID, ins_ext_pose_init_from_flightplan(), register_periodic_telemetry(), send_ahrs_bias(), send_external_pose_down(), send_filter_status(), send_ins(), send_ins_ref(), send_ins_z(), and InsExtPose::started.

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ins_ext_pose_log_data()

void ins_ext_pose_log_data ( FILE *  file )

extern

Definition at line 956 of file ins_ext_pose.c.

References ekf_U, ekf_X, ekf_Z, and foo.

ins_ext_pose_log_header()

void ins_ext_pose_log_header ( FILE *  file )

extern

Logging.

Definition at line 948 of file ins_ext_pose.c.

References foo.

ins_ext_pose_msg_update()

void ins_ext_pose_msg_update ( uint8_t *  buf )

extern

Import External Pose Message.

Definition at line 226 of file ins_ext_pose.c.

References DEBUG_PRINT, ENU_OF_TO_NED, EULERS_COPY, InsExtPose::ev_att, InsExtPose::ev_pos, InsExtPose::ev_quat, InsExtPose::ev_time, InsExtPose::ev_vel, float_eulers_of_quat(), float_quat_comp(), foo, get_sys_time_usec(), InsExtPose::has_new_ext_pose, ins_ext_pose, FloatEulers::phi, FloatEulers::psi, FloatQuat::qi, QUAT_COPY, FloatQuat::qx, FloatQuat::qy, FloatQuat::qz, FloatEulers::theta, and EnuCoor_f::x.

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ins_ext_pose_run()

void ins_ext_pose_run ( void  )

extern

Definition at line 314 of file ins_ext_pose.c.

References ekf_run().

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Variable Documentation

ekf_X

float ekf_X[EKF_NUM_STATES]

extern

Definition at line 340 of file ins_ext_pose.c.

Referenced by ekf_init(), ekf_measurement_step(), ekf_prediction_step(), ekf_run(), ins_ext_pose_log_data(), and send_ahrs_bias().