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_ekf2">
  b'<define name="INS_EKF2_OPTITRACK" value="false" />\n    '
  b'<define name="INS_EKF2_FUSION_MODE" value="(MASK_USE_GPS)" />\n    '
  b'<define name="INS_EKF2_VDIST_SENSOR_TYPE" value="VDIST_SENSOR_BARO" />\n    '
  b'<define name="INS_EKF2_GPS_CHECK_MASK" value="(MASK_GPS_NSATS | MASK_GPS_HACC | MASK_GPS_SACC)" />\n    '
  b'<define name="INS_EKF2_EVP_NOISE" value="0.1" />\n    '
  b'<define name="INS_EKF2_EVV_NOISE" value="1.0" />\n    '
  b'<define name="INS_EKF2_EVA_NOISE" value="0.05" />\n    '
  b'<define name="INS_EKF2_GPS_V_NOISE" value="0.3" />\n    '
  b'<define name="INS_EKF2_GPS_P_NOISE" value="0.5" />\n    '
  b'<define name="INS_EKF2_BARO_NOISE" value="3.5" />\n\n    '
  b'<define name="INS_EKF2_IMU_POS_X" value="0" />\n    '
  b'<define name="INS_EKF2_IMU_POS_Y" value="0" />\n    '
  b'<define name="INS_EKF2_IMU_POS_Z" value="0" />\n    '
  b'<define name="INS_EKF2_GPS_POS_X" value="0" />\n    '
  b'<define name="INS_EKF2_GPS_POS_Y" value="0" />\n    '
  b'<define name="INS_EKF2_GPS_POS_Z" value="0" />\n    '
  b'<define name="INS_EKF2_FLOW_POS_X" value="0" />\n    '
  b'<define name="INS_EKF2_FLOW_POS_Y" value="0" />\n    '
  b'<define name="INS_EKF2_FLOW_POS_Z" value="0" />\n\n    '
  b'<define name="INS_EKF2_SONAR_MIN_RANGE" value="0.05" />\n    '
  b'<define name="INS_EKF2_SONAR_MAX_RANGE" value="3" />\n    '
  b'<define name="INS_EKF2_RANGE_MAIN_AGL" value="1" />\n    '
  b'<define name="INS_EKF2_FLOW_SENSOR_DELAY" value="15" />\n    '
  b'<define name="INS_EKF2_MIN_FLOW_QUALITY" value="100" />\n    '
  b'<define name="INS_EKF2_MAX_FLOW_RATE" value="20" />\n    '
  b'<define name="INS_EKF2_FLOW_NOISE" value="0.01" />\n    '
  b'<define name="INS_EKF2_FLOW_NOISE_QMIN" value="0.03" />\n    '
  b'<define name="INS_EKF2_FLOW_INNOV_GATE" value="3" />\n    '
  b'<define name="INS_EKF2_AGL_ID" value="ABI_BROADCAST" />\n    '
  b'<define name="INS_EKF2_BARO_ID" value="ABI_BROADCAST" />\n    '
  b'<define name="INS_EKF2_GYRO_ID" value="ABI_BROADCAST" />\n    '
  b'<define name="INS_EKF2_ACCEL_ID" value="ABI_BROADCAST" />\n    '
  b'<define name="INS_EKF2_MAG_ID" value="ABI_BROADCAST" />\n    '
  b'<define name="INS_EKF2_GPS_ID" value="ABI_BROADCAST" />\n  '
</module>

Module configuration options

Define Options

name: INS_EKF2_OPTITRACK value: false
Description: Easy configuration of full optitrack (position- and yaw fusion, height, init origin)
name: INS_EKF2_FUSION_MODE value: (MASK_USE_GPS)
Description: The sensor that are used for position fusion
name: INS_EKF2_VDIST_SENSOR_TYPE value: VDIST_SENSOR_BARO
Description: Primary sensor used for vertical distance
name: INS_EKF2_GPS_CHECK_MASK value: (MASK_GPS_NSATS | MASK_GPS_HACC | MASK_GPS_SACC)
Description: GPS checks enabled before initialization of the global positioning
name: INS_EKF2_EVP_NOISE value: 0.1
Description: External vision position noise [m]
name: INS_EKF2_EVV_NOISE value: 1.0
Description: External vision velocity noise [m/s]
name: INS_EKF2_EVA_NOISE value: 0.05
Description: External vision angle noise [rad]
name: INS_EKF2_GPS_V_NOISE value: 0.3
Description: GPS measurement noise for horizontal velocity [m/s]
name: INS_EKF2_GPS_P_NOISE value: 0.5
Description: GPS measurement position noise [m]
name: INS_EKF2_BARO_NOISE value: 3.5
Description: Barometric measurement noise for altitude [m]
name: INS_EKF2_IMU_POS_X value: 0
Description: IMU X offset from CoG position [m]
name: INS_EKF2_IMU_POS_Y value: 0
Description: IMU Y offset from CoG position [m]
name: INS_EKF2_IMU_POS_Z value: 0
Description: IMU Z offset from CoG position [m]
name: INS_EKF2_GPS_POS_X value: 0
Description: GPS X offset from CoG position [m]
name: INS_EKF2_GPS_POS_Y value: 0
Description: GPS Y offset from CoG position [m]
name: INS_EKF2_GPS_POS_Z value: 0
Description: GPS Z offset from CoG position [m]
name: INS_EKF2_FLOW_POS_X value: 0
Description: Flow sensor X offset from CoG position [m]
name: INS_EKF2_FLOW_POS_Y value: 0
Description: Flow sensor Y offset from CoG position [m]
name: INS_EKF2_FLOW_POS_Z value: 0
Description: Flow sensor Z offset from CoG position [m]
name: INS_EKF2_SONAR_MIN_RANGE value: 0.05
Description: AGL sensor minimum range [m]
name: INS_EKF2_SONAR_MAX_RANGE value: 3
Description: AGL sensor maximum range [m]
name: INS_EKF2_RANGE_MAIN_AGL value: 1
Description: If enabled uses radar sensor as primary AGL source, if possible
name: INS_EKF2_FLOW_SENSOR_DELAY value: 15
Description: flow/radar message delay [ms]
name: INS_EKF2_MIN_FLOW_QUALITY value: 100
Description: Minimum quality of the optical flow message accepted [0-255]
name: INS_EKF2_MAX_FLOW_RATE value: 20
Description: Maximum flow rate the sensor can perceive [rad/sec]]
name: INS_EKF2_FLOW_NOISE value: 0.01
Description: Flow sensor noise [rad/sec]
name: INS_EKF2_FLOW_NOISE_QMIN value: 0.03
Description: Flow sensor noise when quality is minimum [rad/sec]
name: INS_EKF2_FLOW_INNOV_GATE value: 3
Description: Flow sensor innovation gate [STD]
name: INS_EKF2_AGL_ID value: ABI_BROADCAST
Description: ABI sensor ID used as input for AGL measurements
name: INS_EKF2_BARO_ID value: ABI_BROADCAST
Description: ABI sensor ID used ad input for Barometric measurements
name: INS_EKF2_GYRO_ID value: ABI_BROADCAST
Description: ABI sensor ID used as input for gyro measurements
name: INS_EKF2_ACCEL_ID value: ABI_BROADCAST
Description: ABI sensor ID used ad input for acceleration measurements
name: INS_EKF2_MAG_ID value: ABI_BROADCAST
Description: ABI sensor ID used as input for magnetic measurements
name: INS_EKF2_GPS_ID value: ABI_BROADCAST
Description: ABI sensor ID used ad input for GPS measurements

Module functions

Init Functions

These initialization functions are called once on startup.

ins_ekf2_init()

Periodic Functions

These functions are called periodically at the specified frequency from the module periodic loop.

ins_ekf2_update()
- Running at maximum module frequency.
- Autorun: TRUE
  Periodic function automatically starts after init.

Datalink Functions

Whenever the specified datalink message is received, the corresponing handler function is called.

on message EXTERNAL_POSE call ins_ekf2_parse_EXTERNAL_POSE(buf)
on message EXTERNAL_POSE_SMALL call ins_ekf2_parse_EXTERNAL_POSE_SMALL(buf)

Files

Header Files

The following headers are automatically included in modules.h

ins_ekf2.h

Source Files

modules/ins/ins.c
modules/ins/ins_ekf2.cpp
ecl/geo/geo.cpp
ecl/geo_lookup/geo_mag_declination.cpp
ecl/EKF/airspeed_fusion.cpp
ecl/EKF/control.cpp
ecl/EKF/mag_control.cpp
ecl/EKF/covariance.cpp
ecl/EKF/drag_fusion.cpp
ecl/EKF/ekf.cpp
ecl/EKF/ekf_helper.cpp
ecl/EKF/estimator_interface.cpp
ecl/EKF/gps_checks.cpp
ecl/EKF/mag_fusion.cpp
ecl/EKF/optflow_fusion.cpp
ecl/EKF/sideslip_fusion.cpp
ecl/EKF/terrain_estimator.cpp
ecl/EKF/vel_pos_fusion.cpp
ecl/EKF/gps_yaw_fusion.cpp
ecl/EKF/imu_down_sampler.cpp
ecl/EKF/EKFGSF_yaw.cpp
ecl/EKF/sensor_range_finder.cpp
ecl/EKF/utils.cpp

Raw ins_ekf2.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="ins_ekf2" dir="ins" task="estimation">
  <doc>
    <description>
      simple INS and AHRS using EKF2 from PX4
    </description>
    <define name="INS_EKF2_OPTITRACK" value="false" description="Easy configuration of full optitrack (position- and yaw fusion, height, init origin)"/>
    <define name="INS_EKF2_FUSION_MODE" value="(MASK_USE_GPS)" description="The sensor that are used for position fusion"/>
    <define name="INS_EKF2_VDIST_SENSOR_TYPE" value="VDIST_SENSOR_BARO" description="Primary sensor used for vertical distance"/>
    <define name="INS_EKF2_GPS_CHECK_MASK" value="(MASK_GPS_NSATS | MASK_GPS_HACC | MASK_GPS_SACC)" description="GPS checks enabled before initialization of the global positioning"/>
    <define name="INS_EKF2_EVP_NOISE" value="0.1" description="External vision position noise [m]"/>
    <define name="INS_EKF2_EVV_NOISE" value="1.0" description="External vision velocity noise [m/s]"/>
    <define name="INS_EKF2_EVA_NOISE" value="0.05" description="External vision angle noise [rad]"/>
    <define name="INS_EKF2_GPS_V_NOISE" value="0.3" description="GPS measurement noise for horizontal velocity [m/s]"/>
    <define name="INS_EKF2_GPS_P_NOISE" value="0.5" description="GPS measurement position noise [m]"/>
    <define name="INS_EKF2_BARO_NOISE" value="3.5" description="Barometric measurement noise for altitude [m]"/>
 
    <define name="INS_EKF2_IMU_POS_X" value="0" description="IMU X offset from CoG position [m]"/>
    <define name="INS_EKF2_IMU_POS_Y" value="0" description="IMU Y offset from CoG position [m]"/>
    <define name="INS_EKF2_IMU_POS_Z" value="0" description="IMU Z offset from CoG position [m]"/>
    <define name="INS_EKF2_GPS_POS_X" value="0" description="GPS X offset from CoG position [m]"/>
    <define name="INS_EKF2_GPS_POS_Y" value="0" description="GPS Y offset from CoG position [m]"/>
    <define name="INS_EKF2_GPS_POS_Z" value="0" description="GPS Z offset from CoG position [m]"/>
    <define name="INS_EKF2_FLOW_POS_X" value="0" description="Flow sensor X offset from CoG position [m]"/>
    <define name="INS_EKF2_FLOW_POS_Y" value="0" description="Flow sensor Y offset from CoG position [m]"/>
    <define name="INS_EKF2_FLOW_POS_Z" value="0" description="Flow sensor Z offset from CoG position [m]"/>
 
    <define name="INS_EKF2_SONAR_MIN_RANGE" value="0.05" description="AGL sensor minimum range [m]"/>
    <define name="INS_EKF2_SONAR_MAX_RANGE" value="3" description="AGL sensor maximum range [m]"/>
    <define name="INS_EKF2_RANGE_MAIN_AGL" value="1" description="If enabled uses radar sensor as primary AGL source, if possible"/>
    <define name="INS_EKF2_FLOW_SENSOR_DELAY" value="15" description="flow/radar message delay [ms]"/>
    <define name="INS_EKF2_MIN_FLOW_QUALITY" value="100" description="Minimum quality of the optical flow message accepted [0-255]"/>
    <define name="INS_EKF2_MAX_FLOW_RATE" value="20" description="Maximum flow rate the sensor can perceive [rad/sec]]"/>
    <define name="INS_EKF2_FLOW_NOISE" value="0.01" description="Flow sensor noise [rad/sec]"/>
    <define name="INS_EKF2_FLOW_NOISE_QMIN" value="0.03" description="Flow sensor noise when quality is minimum [rad/sec]"/>
    <define name="INS_EKF2_FLOW_INNOV_GATE" value="3" description="Flow sensor innovation gate [STD]"/>
    <define name="INS_EKF2_AGL_ID" value="ABI_BROADCAST" description="ABI sensor ID used as input for AGL measurements"/>
    <define name="INS_EKF2_BARO_ID" value="ABI_BROADCAST" description="ABI sensor ID used ad input for Barometric measurements"/>
    <define name="INS_EKF2_GYRO_ID" value="ABI_BROADCAST" description="ABI sensor ID used as input for gyro measurements"/>
    <define name="INS_EKF2_ACCEL_ID" value="ABI_BROADCAST" description="ABI sensor ID used ad input for acceleration measurements"/>
    <define name="INS_EKF2_MAG_ID" value="ABI_BROADCAST" description="ABI sensor ID used as input for magnetic measurements"/>
    <define name="INS_EKF2_GPS_ID" value="ABI_BROADCAST" description="ABI sensor ID used ad input for GPS measurements"/>
  </doc>
  <settings>
  <dl_settings NAME="INS">
      <!-- EKF2 Configuration parameters -->
      <dl_settings name="ekf2">
        <dl_setting var="ekf2.qnh" min="500" step="0.1" max="1500" shortname="QNH"/>
        <dl_setting var="ekf2.temp" min="-50" step="0.1" max="80" shortname="temperature"/>
        <dl_setting var="ekf2.mag_fusion_type" min="0" step="1" max="5" shortname="mag_fusion" values="AUTO|HEADING|3D|AUTOFW|INDOOR|NONE" module="modules/ins/ins_ekf2" handler="change_param"/>
        <dl_setting var="ekf2.fusion_mode" min="0" max="1" step="1" shortname="remove_gps_yaw" values="FALSE|TRUE" module="modules/ins/ins_ekf2" handler="remove_gps" type="bool"/>
      </dl_settings>
    </dl_settings>
  </settings>
  <dep>
    <depends>@gps,@mag,@imu</depends>
    <provides>ins,ahrs</provides>
  </dep>
  <header>
    <file name="ins_ekf2.h"/>
  </header>
  <init fun="ins_ekf2_init()"/>
  <periodic fun="ins_ekf2_update()" autorun="TRUE"/>
  <datalink message="EXTERNAL_POSE" fun="ins_ekf2_parse_EXTERNAL_POSE(buf)"/>
  <datalink message="EXTERNAL_POSE_SMALL" fun="ins_ekf2_parse_EXTERNAL_POSE_SMALL(buf)"/>
  <makefile target="ap|nps">
    <configure name="CXXSTANDARD" value="-std=c++14"/>
    <flag name="CXXFLAGS" value="Wno-unused-but-set-variable"/>
    <flag name="CXXFLAGS" value="Wno-unused-variable"/>
 
    <!-- EKF2 files -->
    <define name="INS_TYPE_H" value="modules/ins/ins_ekf2.h" type="string"/>
    <file name="ins.c"/>
    <file name="ins_ekf2.cpp"/>
 
    <!-- Include the ecl and matrix libraries from ext -->
    <include name="$(PAPARAZZI_SRC)/sw/ext/ecl/"/>
    <include name="$(PAPARAZZI_SRC)/sw/ext/matrix/"/>
    <define name="__PAPARAZZI" value="TRUE"/>
    <define name="ECL_STANDALONE" value="TRUE"/>
    <define name="IMU_INTEGRATION" value="TRUE"/> <!-- Needed to enable IMU integration -->
    <define name="USE_ALT_LLA_WAYPOINTS" value="TRUE"/>
 
    <!-- Compile needed ecl files -->
    <file name="geo.cpp" dir="ecl/geo"/>
    <file name="geo_mag_declination.cpp" dir="ecl/geo_lookup"/>
    <file name="airspeed_fusion.cpp" dir="ecl/EKF"/>
    <file name="control.cpp" dir="ecl/EKF"/>
    <file name="mag_control.cpp" dir="ecl/EKF"/>
    <file name="covariance.cpp" dir="ecl/EKF"/>
    <file name="drag_fusion.cpp" dir="ecl/EKF"/>
    <file name="ekf.cpp" dir="ecl/EKF"/>
    <file name="ekf_helper.cpp" dir="ecl/EKF"/>
    <file name="estimator_interface.cpp" dir="ecl/EKF"/>
    <file name="gps_checks.cpp" dir="ecl/EKF"/>
    <file name="mag_fusion.cpp" dir="ecl/EKF"/>
    <file name="optflow_fusion.cpp" dir="ecl/EKF"/>
    <file name="sideslip_fusion.cpp" dir="ecl/EKF"/>
    <file name="terrain_estimator.cpp" dir="ecl/EKF"/>
    <file name="vel_pos_fusion.cpp" dir="ecl/EKF"/>
    <file name="gps_yaw_fusion.cpp" dir="ecl/EKF"/>
    <file name="imu_down_sampler.cpp" dir="ecl/EKF"/>
    <file name="EKFGSF_yaw.cpp" dir="ecl/EKF"/>
    <file name="sensor_range_finder.cpp" dir="ecl/EKF"/>
    <file name="utils.cpp" dir="ecl/EKF"/>
 
  </makefile>
</module>