Paparazzi UAS  v5.0.5_stable-7-g4b8bbb7
Paparazzi is a free software Unmanned Aircraft System.
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ins.h File Reference

Integrated Navigation System interface. More...

#include "std.h"
#include "math/pprz_geodetic_int.h"
#include "math/pprz_algebra_float.h"
#include "state.h"
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Data Structures

struct  Ins
 Inertial Navigation System state. More...
 

Macros

#define INS_UNINIT   0
 
#define INS_RUNNING   1
 

Functions

void ins_init (void)
 INS initialization. More...
 
void ins_periodic (void)
 INS periodic call. More...
 
void ins_realign_h (struct FloatVect2 pos, struct FloatVect2 speed)
 INS horizontal realign. More...
 
void ins_realign_v (float z)
 INS vertical realign. More...
 
void ins_propagate (void)
 Propagation. More...
 
void ins_update_baro (void)
 Update INS state with barometer measurements. More...
 
void ins_update_gps (void)
 Update INS state with GPS measurements. More...
 
void ins_update_sonar (void)
 Update INS state with sonar measurements. More...
 

Variables

struct Ins ins
 global INS state More...
 

Detailed Description

Integrated Navigation System interface.

Definition in file ins.h.

Macro Definition Documentation

#define INS_RUNNING   1

Definition at line 36 of file ins.h.

Referenced by ins_init().

#define INS_UNINIT   0

Definition at line 35 of file ins.h.

Function Documentation

void ins_periodic ( void  )

INS periodic call.

Needs to be implemented by each INS algorithm.

Definition at line 75 of file ins_alt_float.c.

Referenced by sensors_task().

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void ins_realign_h ( struct FloatVect2  pos,
struct FloatVect2  speed 
)

INS horizontal realign.

Parameters
posnew horizontal position to set
speednew horizontal speed to set Needs to be implemented by each INS algorithm.

Definition at line 78 of file ins_alt_float.c.

References b2_hff_realign().

Referenced by track_event().

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void ins_realign_v ( float  z)

INS vertical realign.

Parameters
znew altitude to set Needs to be implemented by each INS algorithm.

Definition at line 81 of file ins_alt_float.c.

References vff_realign(), and EcefCoor_i::z.

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void ins_update_baro ( void  )
void ins_update_sonar ( void  )

Update INS state with sonar measurements.

Reads the global #sonar data struct. Needs to be implemented by each INS algorithm.

Definition at line 145 of file ins_alt_float.c.

References Baro::absolute, baro, BS_RUNNING, DefaultChannel, DefaultDevice, ins_baro_alt, ins_sonar_offset, POS_BFP_OF_REAL, POS_FLOAT_OF_BFP, sonar_meas, sonar_median, stabilization_cmd, Baro::status, update_median_filter(), variance_float(), vff_offset, VFF_R_SONAR_0, VFF_R_SONAR_OF_M, vff_update_alt_conf(), and vff_update_offset().

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Variable Documentation

struct Ins ins

global INS state

Definition at line 30 of file ins.c.

Referenced by imu_periodic(), ins_init(), ins_update_baro(), ins_update_gps(), nav_reset_alt(), nav_reset_reference(), and track_event().