Paparazzi UAS  v5.15_devel-46-gd23ed71
Paparazzi is a free software Unmanned Aircraft System.
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ins_alt_float module

INS with Kalman Filter on altitude.

For fixedwings.

Example for airframe file

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

1 <module name="ins_alt_float">
2  <define name="USE_INS_NAV_INIT" value="TRUE|FALSE" />
3  <define name="INS_ALT_BARO_ID" value="BARO_BOARD_SENDER_ID" />
4  <define name="INS_ALT_GPS_ID" value="GPS_MULTI_ID" />
5  <define name="INS_ALT_IMU_ID" value="ABI_BROADCAST" />
6  <define name="DEBUG_ALT_KALMAN" />
7 </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_ALT_BARO_ID value: BARO_BOARD_SENDER_ID
    Description: The ABI sender id of the baro to use
  • name: INS_ALT_GPS_ID value: GPS_MULTI_ID
    Description: The ABI sender id of the GPS to use
  • name: INS_ALT_IMU_ID value: ABI_BROADCAST
    Description: The ABI sender id of the IMU to use
  • name: DEBUG_ALT_KALMAN value: None
    Description: if defined, send the debug ALT_KALMAN telemetry message

Module functions

Init Functions

These initialization functions are called once on startup.

Files

Header Files

The following headers are automatically included in modules.h

Source Files

Raw ins_alt_float.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
<module name="ins_alt_float" dir="ins">
<doc>
<description>
INS with Kalman Filter on altitude.
For fixedwings.
</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_ALT_BARO_ID" value="BARO_BOARD_SENDER_ID" description="The ABI sender id of the baro to use"/>
<define name="INS_ALT_GPS_ID" value="GPS_MULTI_ID" description="The ABI sender id of the GPS to use"/>
<define name="INS_ALT_IMU_ID" value="ABI_BROADCAST" description="The ABI sender id of the IMU to use"/>
<define name="DEBUG_ALT_KALMAN" description="if defined, send the debug ALT_KALMAN telemetry message"/>
</doc>
<header>
<file name="ins_alt_float.h" dir="subsystems/ins"/>
</header>
<init fun="ins_alt_float_init()"/>
<makefile target="ap|nps|sim" firmware="fixedwing">
<define name="INS_TYPE_H" value="subsystems/ins/ins_alt_float.h" type="string"/>
<file name="ins.c" dir="subsystems"/>
<file name="ins_alt_float.c" dir="subsystems/ins"/>
</makefile>
</module>