ins module

simple INS with vertical filter.

No detailed description...

Example for airframe file

Add to your firmware section: This example contains all possible configuration options, not all of them are mandatory!

<module name="ins">
  b'<define name="USE_INS_NAV_INIT" value="TRUE|FALSE" />\n    '
  b'<define name="INS_INT_BARO_ID" value="BARO_BOARD_SENDER_ID" />\n    '
  b'<define name="INS_INT_GPS_ID" value="GPS_MULTI_ID" />\n    '
  b'<define name="INS_INT_IMU_ID" value="ABI_BROADCAST" />\n    '
  b'<define name="INS_INT_VEL_ID" value="ABI_BROADCAST" />\n  '
</module>

Module configuration options

Define Options

• name: USE_INS_NAV_INIT value: TRUE|FALSE
  Description: Initialize the origin of the local coordinate system from flight plan. (Default: TRUE)
• name: INS_INT_BARO_ID value: BARO_BOARD_SENDER_ID
  Description: The ABI sender id of the baro to use
• name: INS_INT_GPS_ID value: GPS_MULTI_ID
  Description: The ABI sender id of the GPS to use
• name: INS_INT_IMU_ID value: ABI_BROADCAST
  Description: The ABI sender id of the IMU to use
• name: INS_INT_VEL_ID value: ABI_BROADCAST
  Description: The ABI sender id of the VELOCITY_ESTIMATE (e.g. from opticflow

Module functions

Init Functions

These initialization functions are called once on startup.

• ins_int_init()

Files

Header Files

The following headers are automatically included in modules.h

• ins_int.h

Source Files

• modules/ins/ins.c
• modules/ins/ins_int.c
• modules/ins/vf_float.c

Raw ins.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="ins" dir="ins" task="estimation">
  <doc>
    <description>
      simple INS with vertical filter.
    </description>
    <define name="USE_INS_NAV_INIT" value="TRUE|FALSE" description="Initialize the origin of the local coordinate system from flight plan. (Default: TRUE)"/>
    <define name="INS_INT_BARO_ID" value="BARO_BOARD_SENDER_ID" description="The ABI sender id of the baro to use"/>
    <define name="INS_INT_GPS_ID" value="GPS_MULTI_ID" description="The ABI sender id of the GPS to use"/>
    <define name="INS_INT_IMU_ID" value="ABI_BROADCAST" description="The ABI sender id of the IMU to use"/>
    <define name="INS_INT_VEL_ID" value="ABI_BROADCAST" description="The ABI sender id of the VELOCITY_ESTIMATE (e.g. from opticflow"/>
  </doc>
  <dep>
    <depends>@imu,@gps|@position|@velocity</depends>
    <provides>ins</provides>
  </dep>
  <header>
    <file name="ins_int.h" dir="modules/ins"/>
  </header>
  <init fun="ins_int_init()"/>
  <makefile target="ap|nps">
    <define name="INS_TYPE_H" value="modules/ins/ins_int.h" type="string"/>
    <file name="ins.c"/>
    <file name="ins_int.c"/>
    <file name="vf_float.c"/>
    <test firmware="rotorcraft"/>
  </makefile>
</module>