Paparazzi UAS  v5.15_devel-88-gb3ad7fe
Paparazzi is a free software Unmanned Aircraft System.
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ins_hff module

INS with float vertical and horizontal filters.

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!

1 <module name="ins_hff">
2  <define name="USE_INS_NAV_INIT" value="TRUE|FALSE" />
3  <define name="INS_INT_BARO_ID" value="BARO_BOARD_SENDER_ID" />
4  <define name="INS_INT_GPS_ID" value="GPS_MULTI_ID" />
5  <define name="INS_INT_IMU_ID" value="ABI_BROADCAST" />
6  <define name="INS_INT_VEL_ID" value="ABI_BROADCAST" />
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_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.

Files

Header Files

The following headers are automatically included in modules.h

Source Files

Raw ins_hff.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
<module name="ins_hff" dir="ins">
<doc>
<description>
INS with float vertical and horizontal filters.
</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>
<header>
<file name="ins_int.h" dir="subsystems/ins"/>
</header>
<init fun="ins_int_init()"/>
<makefile target="ap|nps">
<define name="INS_TYPE_H" value="subsystems/ins/ins_int.h" type="string"/>
<file name="ins.c" dir="subsystems"/>
<file name="ins_int.c" dir="subsystems/ins"/>
<file name="vf_float.c" dir="subsystems/ins"/>
<file name="hf_float.c" dir="subsystems/ins"/>
<define name="USE_HFF"/>
</makefile>
</module>