Paparazzi UAS  v5.15_devel-79-g48e7b20
Paparazzi is a free software Unmanned Aircraft System.
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ins_skeleton.c File Reference

Paparazzi specific wrapper to run simple module based INS. More...

#include "modules/ins/ins_skeleton.h"
#include "subsystems/abi.h"
#include "mcu_periph/sys_time.h"
#include "message_pragmas.h"
#include "state.h"
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Go to the source code of this file.

Macros

#define USE_INS_NAV_INIT   TRUE
 
#define INS_MODULE_BARO_ID   ABI_BROADCAST
 baro More...
 
#define INS_MODULE_IMU_ID   ABI_BROADCAST
 IMU (accel, body_to_imu) More...
 
#define INS_MODULE_GPS_ID   GPS_MULTI_ID
 ABI binding for gps data. More...
 

Functions

void ins_module_wrapper_init (void)
 
void WEAK ins_module_init (void)
 
void WEAK ins_module_update_baro (float pressure)
 
void WEAK ins_module_update_gps (struct GpsState *gps_s, float dt)
 
void WEAK ins_module_propagate (struct Int32Vect3 *accel, float dt)
 
void WEAK ins_module_reset_local_origin (void)
 
void ins_reset_local_origin (void)
 INS local origin reset. More...
 
static void ins_ned_to_state (void)
 copy position and speed to state interface More...
 
static void baro_cb (uint8_t sender_id, uint32_t stamp, float pressure)
 
static void accel_cb (uint8_t sender_id, uint32_t stamp, struct Int32Vect3 *accel)
 
static void gps_cb (uint8_t sender_id, uint32_t stamp, struct GpsState *gps_s)
 
static void body_to_imu_cb (uint8_t sender_id, struct FloatQuat *q_b2i_f)
 

Variables

static abi_event baro_ev
 
static abi_event accel_ev
 
static abi_event gps_ev
 
static abi_event body_to_imu_ev
 
struct InsModuleInt ins_module
 global INS state More...
 

Detailed Description

Paparazzi specific wrapper to run simple module based INS.

Definition in file ins_skeleton.c.

Macro Definition Documentation

#define INS_MODULE_BARO_ID   ABI_BROADCAST

baro

Definition at line 47 of file ins_skeleton.c.

Referenced by ins_module_wrapper_init().

#define INS_MODULE_GPS_ID   GPS_MULTI_ID

ABI binding for gps data.

Used for GPS ABI messages.

Definition at line 62 of file ins_skeleton.c.

Referenced by ins_module_wrapper_init().

#define INS_MODULE_IMU_ID   ABI_BROADCAST

IMU (accel, body_to_imu)

Definition at line 54 of file ins_skeleton.c.

Referenced by ins_module_wrapper_init().

#define USE_INS_NAV_INIT   TRUE

Definition at line 35 of file ins_skeleton.c.

Function Documentation

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

Definition at line 200 of file ins_skeleton.c.

References ins_module_propagate(), and ins_ned_to_state().

Referenced by ins_module_wrapper_init().

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static void baro_cb ( uint8_t  sender_id,
uint32_t  stamp,
float  pressure 
)
static

Definition at line 193 of file ins_skeleton.c.

References ins_module_update_baro(), and ins_ned_to_state().

Referenced by ins_module_wrapper_init().

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

Definition at line 240 of file ins_skeleton.c.

References InsModuleInt::body_to_imu, ins_module, and orientationSetQuat_f().

Referenced by ins_module_wrapper_init().

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static void gps_cb ( uint8_t  sender_id,
uint32_t  stamp,
struct GpsState gps_s 
)
static

Definition at line 215 of file ins_skeleton.c.

References GpsState::fix, InsModuleInt::gps, GPS_FIX_3D, ins_module, ins_module_update_gps(), ins_ned_to_state(), ins_reset_local_origin(), and InsModuleInt::ltp_initialized.

Referenced by ins_module_wrapper_init().

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void WEAK ins_module_init ( void  )

Definition at line 79 of file ins_skeleton.c.

Referenced by ins_module_wrapper_init().

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void WEAK ins_module_propagate ( struct Int32Vect3 accel,
float  dt 
)

Definition at line 115 of file ins_skeleton.c.

References InsModuleInt::body_to_imu, ins_module, int32_rmat_transp_vmult(), InsModuleInt::ltp_accel, orientationGetRMat_i(), stateGetNedToBodyRMat_i(), stateSetAccelBody_i(), and VECT3_COPY.

Referenced by accel_cb().

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void WEAK ins_module_reset_local_origin ( void  )

Definition at line 128 of file ins_skeleton.c.

Referenced by ins_reset_local_origin().

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void WEAK ins_module_update_baro ( float  pressure)

Definition at line 83 of file ins_skeleton.c.

Referenced by baro_cb().

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static void ins_ned_to_state ( void  )
static

copy position and speed to state interface

Definition at line 176 of file ins_skeleton.c.

References ins_module, InsModuleInt::ltp_accel, InsModuleInt::ltp_pos, InsModuleInt::ltp_speed, nps_bypass_ins, sim_overwrite_ins(), stateSetAccelNed_i(), stateSetPositionNed_i(), and stateSetSpeedNed_i().

Referenced by accel_cb(), baro_cb(), and gps_cb().

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void ins_reset_local_origin ( void  )

INS local origin reset.

Reset horizontal and vertical reference to the current position. Does nothing if not implemented by specific INS algorithm.

INS local origin reset.

Definition at line 137 of file ins_skeleton.c.

References LlaCoor_i::alt, GpsState::ecef_pos, GpsState::fix, InsModuleInt::gps, GPS_FIX_3D, GpsState::hmsl, LtpDef_i::hmsl, ins_module, ins_module_reset_local_origin(), LtpDef_i::lla, GpsState::lla_pos, InsModuleInt::ltp_def, ltp_def_from_ecef_i(), InsModuleInt::ltp_initialized, and stateSetLocalOrigin_i().

Referenced by gps_cb().

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Variable Documentation

abi_event accel_ev
static

Definition at line 67 of file ins_skeleton.c.

Referenced by ins_module_wrapper_init().

abi_event baro_ev
static

Definition at line 66 of file ins_skeleton.c.

Referenced by ins_module_wrapper_init().

abi_event body_to_imu_ev
static

Definition at line 69 of file ins_skeleton.c.

Referenced by ins_module_wrapper_init().

abi_event gps_ev
static

Definition at line 68 of file ins_skeleton.c.

Referenced by ins_module_wrapper_init().