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ins_vectornav.h File Reference

Vectornav VN-200 INS subsystem. More...

#include "subsystems/gps.h"
#include "subsystems/ins.h"
#include "peripherals/vn200_serial.h"
#include "math/pprz_algebra.h"
#include "math/pprz_geodetic_int.h"
#include "math/pprz_algebra_float.h"
#include "math/pprz_isa.h"
#include "generated/airframe.h"
#include "mcu_periph/sys_time.h"
#include "subsystems/abi.h"
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Go to the source code of this file.

Data Structures

struct  InsVectornav
 

Macros

#define INS_VN_BODY_TO_IMU_PHI   0
 
#define INS_VN_BODY_TO_IMU_THETA   0
 
#define INS_VN_BODY_TO_IMU_PSI   0
 

Functions

void ins_vectornav_init (void)
 Initialize Vectornav struct. More...
 
void ins_vectornav_event (void)
 Event handling for Vectornav. More...
 
void ins_vectornav_read_message (void)
 Read received data. More...
 
void ins_vectornav_check_status (void)
 Check INS status. More...
 
void ins_vectornav_set_sacc (void)
 Set speed (velocity) uncertainty (NED) speed accuracy in cm/s. More...
 
void ins_vectornav_set_pacc (void)
 Find maximum uncertainty (NED) position accuracy in cm. More...
 
void ins_vectornav_propagate (void)
 Propagate the received states into the vehicle state machine. More...
 
void ins_vectornav_yaw_pitch_roll_to_attitude (struct FloatEulers *vn_attitude)
 Convert yaw, pitch, and roll data from VectorNav to correct attitude yaw(0), pitch(1), roll(2) -> phi, theta, psi [deg] -> rad. More...
 

Variables

struct InsVectornav ins_vn
 

Detailed Description

Vectornav VN-200 INS subsystem.

Author
Michal Podhradsky micha.nosp@m.l.po.nosp@m.dhrad.nosp@m.sky@.nosp@m.aggie.nosp@m.mail.nosp@m..usu..nosp@m.edu

Definition in file ins_vectornav.h.


Data Structure Documentation

struct InsVectornav

Definition at line 64 of file ins_vectornav.h.

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Data Fields
struct FloatVect3 accel Acceleration in the imu frame, m/s.
struct Int32Vect3 accel_i
struct FloatEulers attitude Attitude, float, [degrees], yaw, pitch, roll.
float baro_z z-position calculated from baro in meters (z-down)
struct OrientationReps body_to_imu body_to_imu rotation
uint8_t err see page 122 of VN-200 datasheet
struct FloatRates gyro Rates in the imu frame m/s.
struct Int32Rates gyro_i
uint16_t ins_status see page 122 of VN-200 datasheet
struct FloatVect3 lin_accel Linear acceleration in imu frame [m/s^2].
struct LlaCoor_f lla_pos
struct NedCoor_f ltp_accel_f
struct NedCoor_i ltp_accel_i
struct LtpDef_i ltp_def
bool ltp_initialized
struct NedCoor_i ltp_pos_i
struct NedCoor_i ltp_speed_i
uint8_t mode 0-not tracking, 1 - poor performance, 2- OK
double pos_lla[3]
float pos_u[3] The current GPS position uncertainty in the North East Down (NED) coordinate frame, given in meters.
float qfe
float timestamp System time [s].
struct FloatVect3 vel_body The estimated velocity in the imu frame, given in m/s.
struct NedCoor_f vel_ned The estimated velocity in the North East Down (NED) frame, given in m/s.
float vel_u NED velocity uncertainty [m/s].
uint16_t vn_chksm aux variable for checksum
float vn_freq data frequency
uint32_t vn_ltime aux time stamp
struct VNPacket vn_packet Packet struct.
enum VNStatus vn_status VN status.
uint32_t vn_time VN time stamp.
struct FloatEulers ypr_u Attitude uncertainty, 1sigma, float, [degrees], yaw, pitch, roll.

Macro Definition Documentation

#define INS_VN_BODY_TO_IMU_PHI   0

Definition at line 57 of file ins_vectornav.h.

Referenced by ins_vectornav_init().

#define INS_VN_BODY_TO_IMU_PSI   0

Definition at line 59 of file ins_vectornav.h.

Referenced by ins_vectornav_init().

#define INS_VN_BODY_TO_IMU_THETA   0

Definition at line 58 of file ins_vectornav.h.

Referenced by ins_vectornav_init().

Function Documentation

void ins_vectornav_check_status ( void  )

Check INS status.

Definition at line 282 of file ins_vectornav.c.

References InsVectornav::err, InsVectornav::ins_status, ins_vn, and InsVectornav::mode.

Referenced by ins_vectornav_propagate().

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void ins_vectornav_event ( void  )

Event handling for Vectornav.

Definition at line 125 of file ins_vectornav.c.

References ins_vectornav_read_message(), ins_vn, VNPacket::msg_available, vn200_event(), and InsVectornav::vn_packet.

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void ins_vectornav_propagate ( void  )

Propagate the received states into the vehicle state machine.

Definition at line 336 of file ins_vectornav.c.

References InsVectornav::accel, InsVectornav::accel_i, ACCELS_BFP_OF_REAL, LlaCoor_f::alt, InsVectornav::attitude, InsVectornav::body_to_imu, GpsState::course, ECEF_BFP_OF_REAL, ecef_of_ned_point_f(), GpsState::ecef_pos, GpsState::ecef_vel, GpsState::fix, float_quat_of_eulers(), float_rmat_comp(), float_rmat_of_quat(), float_rmat_ratemult(), float_rmat_transp_vmult(), get_sys_time_usec(), gps, GPS_FIX_3D, GPS_UBX_ID, GPS_VALID_COURSE_BIT, GPS_VALID_HMSL_BIT, GPS_VALID_POS_ECEF_BIT, GPS_VALID_POS_LLA_BIT, GPS_VALID_VEL_ECEF_BIT, GpsState::gspeed, InsVectornav::gyro, InsVectornav::gyro_i, GpsState::hmsl, IMU_ASPIRIN_ID, ins_vectornav_check_status(), ins_vectornav_set_pacc(), ins_vectornav_set_sacc(), ins_vectornav_yaw_pitch_roll_to_attitude(), ins_vn, GpsState::last_3dfix_ticks, GpsState::last_3dfix_time, GpsState::last_msg_ticks, GpsState::last_msg_time, LlaCoor_f::lat, InsVectornav::lin_accel, LLA_BFP_OF_REAL, InsVectornav::lla_pos, GpsState::lla_pos, LlaCoor_f::lon, InsVectornav::ltp_accel_f, InsVectornav::ltp_accel_i, ltp_def_from_lla_f(), InsVectornav::ltp_pos_i, InsVectornav::ltp_speed_i, sys_time::nb_sec, sys_time::nb_sec_rem, orientationGetRMat_f(), InsVectornav::pos_lla, RATES_BFP_OF_REAL, stateGetAccelNed_i(), stateGetPositionEcef_i(), stateGetPositionNed_i(), stateGetSpeedNed_i(), stateSetAccelNed_f(), stateSetBodyRates_f(), stateSetNedToBodyRMat_f(), stateSetPositionLla_i(), stateSetSpeedNed_f(), GpsState::valid_fields, VECT3_ASSIGN, InsVectornav::vel_ned, wgs84_ellipsoid_to_geoid_f(), EcefCoor_i::x, FloatVect3::x, NedCoor_f::x, EcefCoor_i::y, FloatVect3::y, NedCoor_f::y, EcefCoor_i::z, and FloatVect3::z.

Referenced by ins_vectornav_read_message().

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void ins_vectornav_set_pacc ( void  )

Find maximum uncertainty (NED) position accuracy in cm.

Definition at line 301 of file ins_vectornav.c.

References gps, ins_vn, GpsState::pacc, and InsVectornav::pos_u.

Referenced by ins_vectornav_propagate().

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void ins_vectornav_set_sacc ( void  )

Set speed (velocity) uncertainty (NED) speed accuracy in cm/s.

Definition at line 292 of file ins_vectornav.c.

References gps, ins_vn, GpsState::sacc, and InsVectornav::vel_u.

Referenced by ins_vectornav_propagate().

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void ins_vectornav_yaw_pitch_roll_to_attitude ( struct FloatEulers vn_attitude)

Convert yaw, pitch, and roll data from VectorNav to correct attitude yaw(0), pitch(1), roll(2) -> phi, theta, psi [deg] -> rad.

Definition at line 320 of file ins_vectornav.c.

References FloatEulers::phi, FloatEulers::psi, and FloatEulers::theta.

Referenced by ins_vectornav_propagate().

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Variable Documentation