ins_ext_pose module

Extened Kalman filter based on https://en.wikipedia.org/wiki/Extended_Kalman_filter

Designed to merge only IMU and OptiTrack/VICON (no baro, sonar, GPS, ...)

• predict attitude and path with gyroscopes and accelerometers
• correct attitude and path with external pose and position message
• estimate gyro and accelerometer biases

Bypassed when simulating.

Example for airframe file

Add to your firmware section:

<module name="ins_ext_pose"/>

Module functions

Init Functions

These initialization functions are called once on startup.

• ins_ext_pose_init()

Periodic Functions

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

• ins_ext_pose_run()
  • Running at maximum module frequency.
  • Autorun: LOCK
    Periodic function automatically starts after init and can't be stopped.

Datalink Functions

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

• on message EXTERNAL_POSE call ins_ext_pose_msg_update(buf)

Files

Header Files

The following headers are automatically included in modules.h

• ins_ext_pose.h

Source Files

• modules/ins/ins_ext_pose.c
• modules/ins/ins.c

Raw ins_ext_pose.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="ins_ext_pose" dir="ins">
  <doc>
    <description>
      Extened Kalman filter based on https://en.wikipedia.org/wiki/Extended_Kalman_filter
      
      Designed to merge only IMU and OptiTrack/VICON (no baro, sonar, GPS, ...)
      
       - predict attitude and path with gyroscopes and accelerometers
       - correct attitude and path with external pose and position message
       - estimate gyro and accelerometer biases
       
      Bypassed when simulating.
    </description>
  </doc>
  <dep>
    <depends>@gps,@datalink,@imu</depends>
    <provides>ahrs,ins</provides>
  </dep>
  <header>
    <file name="ins_ext_pose.h"/>
  </header>
  <init fun="ins_ext_pose_init()"/>
  <periodic fun="ins_ext_pose_run()"/>
  <datalink message="EXTERNAL_POSE" fun="ins_ext_pose_msg_update(buf)"/>
 
  <makefile target="ap">
    <define name="INS_TYPE_H" value="modules/ins/ins_ext_pose.h" type="string"/>
    <define name="INS_EXT_POSE" value="TRUE"/>
    <file name="ins_ext_pose.c"/>
    <file name="ins.c"/>
  </makefile>
</module>