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!
<module name="ins_alt_float">
b'<define name="USE_INS_NAV_INIT" value="TRUE|FALSE" />\n '
b'<define name="INS_ALT_BARO_ID" value="BARO_BOARD_SENDER_ID" />\n '
b'<define name="INS_ALT_GPS_ID" value="GPS_MULTI_ID" />\n '
b'<define name="INS_ALT_IMU_ID" value="ABI_BROADCAST" />\n '
b'<define name="DEBUG_ALT_KALMAN" />\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_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" task="estimation">
<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>
<dep>
<depends>@imu,@gps</depends>
<provides>ins</provides>
</dep>
<header>
<file name="ins_alt_float.h"/>
</header>
<init fun="ins_alt_float_init()"/>
<makefile target="ap|nps|sim" firmware="fixedwing">
<define name="INS_TYPE_H" value="modules/ins/ins_alt_float.h" type="string"/>
<file name="ins.c"/>
<file name="ins_alt_float.c"/>
<test firmware="fixedwing"/>
</makefile>
</module>