ins_hff_extended module

extended INS with vertical filter using sonar.

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!

<module name="ins_hff_extended">
  b'<define name="USE_INS_NAV_INIT" value="TRUE|FALSE" />\n    '
  b'<define name="INS_INT_AGL_ID" value="ABI_BROADCAST" />\n    '
  b'<define name="INS_INT_BARO_ID" value="BARO_BOARD_SENDER_ID" />\n    '
  b'<define name="INS_INT_GPS_ID" value="GPS_MULTI_ID" />\n    '
  b'<define name="INS_INT_IMU_ID" value="ABI_BROADCAST" />\n    '
  b'<define name="INS_INT_VEL_ID" value="ABI_BROADCAST" />\n    '
  b'<define name="INS_SONAR_MIN_RANGE" value="0.001" />\n    '
  b'<define name="INS_SONAR_MAX_RANGE" value="4.0" />\n    '
  b'<define name="INS_SONAR_UPDATE_ON_AGL" value="FALSE" />\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_INT_AGL_ID value: ABI_BROADCAST
  Description: The ABI sender id of the sonar to use
• 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
• name: INS_SONAR_MIN_RANGE value: 0.001
  Description: min sonar range in meters
• name: INS_SONAR_MAX_RANGE value: 4.0
  Description: max sonar range in meters
• name: INS_SONAR_UPDATE_ON_AGL value: FALSE
  Description: assume flat ground and use sonar for height

Module functions

Init Functions

These initialization functions are called once on startup.

• ins_int_init()

Files

Header Files

The following headers are automatically included in modules.h

• ins_int.h

Source Files

• modules/ins/ins.c
• modules/ins/ins_int.c
• modules/ins/vf_extended_float.c
• modules/ins/hf_float.c

Raw ins_hff_extended.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="ins_hff_extended" dir="ins" task="estimation">
  <doc>
    <description>
      extended INS with vertical filter using sonar.
    </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_AGL_ID" value="ABI_BROADCAST" description="The ABI sender id of the sonar to use"/>
    <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"/>
    <define name="INS_SONAR_MIN_RANGE" value="0.001" description="min sonar range in meters"/>
    <define name="INS_SONAR_MAX_RANGE" value="4.0" description="max sonar range in meters"/>
    <define name="INS_SONAR_UPDATE_ON_AGL" value="FALSE" description="assume flat ground and use sonar for height"/>
  </doc>
 
  <settings>
    <dl_settings NAME="Ins Extended">
      <dl_settings NAME="INS">
        <dl_setting MAX="10" MIN="0" STEP="0.1" VAR="vff.accel_noise" shortname="accel_noise" module="modules/ins/vf_extended_float"/>
        <dl_setting MAX="10" MIN="0" STEP="0.1" VAR="vff.r_baro" shortname="r_baro"/>
        <dl_setting MAX="10" MIN="0" STEP="0.1" VAR="vff.r_alt" shortname="r_alt"/>
        <dl_setting MAX="10" MIN="0" STEP="0.1" VAR="vff.r_obs_height" shortname="r_obs_height"/>
      </dl_settings>
    </dl_settings>
  </settings>
  <dep>
    <depends>@imu,@gps|@position|@velocity</depends>
    <provides>ins</provides>
  </dep>
 
  <header>
    <file name="ins_int.h"/>
  </header>
  <init fun="ins_int_init()"/>
  <makefile target="ap|nps">
    <define name="INS_TYPE_H" value="modules/ins/ins_int.h" type="string"/>
    <file name="ins.c"/>
    <file name="ins_int.c"/>
    <file name="vf_extended_float.c"/>
    <define name="USE_VFF_EXTENDED"/>
    <file name="hf_float.c"/>
    <define name="USE_HFF"/>
    <test firmware="rotorcraft">
      <define name="AHRS_PROPAGATE_FREQUENCY" value="500"/>
    </test>
  </makefile>
</module>