imu.h File Reference

Inertial Measurement Unit interface. More...

#include "math/pprz_algebra_int.h"
#include "math/pprz_algebra_float.h"
#include "math/pprz_orientation_conversion.h"
#include "generated/airframe.h"

Include dependency graph for imu.h:

Go to the source code of this file.

Data Structures
struct	Imu
	abstract IMU interface providing fixed point interface More...

Macros
#define	IMU_BODY_TO_IMU_PHI   0
#define	IMU_BODY_TO_IMU_THETA   0
#define	IMU_BODY_TO_IMU_PSI   0
#define	IMU_GYRO_P_NEUTRAL   0
#define	IMU_GYRO_Q_NEUTRAL   0
#define	IMU_GYRO_R_NEUTRAL   0
#define	IMU_ACCEL_X_NEUTRAL   0
#define	IMU_ACCEL_Y_NEUTRAL   0
#define	IMU_ACCEL_Z_NEUTRAL   0
#define	IMU_GYRO_P_SIGN   1
#define	IMU_GYRO_Q_SIGN   1
#define	IMU_GYRO_R_SIGN   1
#define	IMU_ACCEL_X_SIGN   1
#define	IMU_ACCEL_Y_SIGN   1
#define	IMU_ACCEL_Z_SIGN   1
#define	IMU_MAG_X_SIGN   1
#define	IMU_MAG_Y_SIGN   1
#define	IMU_MAG_Z_SIGN   1

Functions
void	imu_init (void)
void	imu_SetBodyToImuPhi (float phi)
void	imu_SetBodyToImuTheta (float theta)
void	imu_SetBodyToImuPsi (float psi)
void	imu_SetBodyToImuCurrent (float set)
void	imu_ResetBodyToImu (float reset)
void	imu_scale_gyro (struct Imu *_imu)
void	imu_scale_accel (struct Imu *_imu)
void	imu_scale_mag (struct Imu *_imu)

Variables
struct Imu	imu
	global IMU state More...

Detailed Description

Inertial Measurement Unit interface.

Definition in file imu.h.

---

Data Structure Documentation

struct Imu

abstract IMU interface providing fixed point interface

Definition at line 37 of file imu.h.

Collaboration diagram for Imu:

Data Fields
struct Int32Vect3	accel	accelerometer measurements in m/s^2 in BFP with INT32_ACCEL_FRAC
struct Int32Vect3	accel_neutral	static accelerometer bias from calibration in raw/unscaled units
struct Int32Vect3	accel_prev	previous accelerometer measurements
struct Int32Vect3	accel_unscaled	unscaled accelerometer measurements
bool	b2i_set_current	flag for adjusting body_to_imu via settings. if FALSE, reset to airframe values, if TRUE set current roll/pitch
struct OrientationReps	body_to_imu	rotation from body to imu frame
struct Int32Rates	gyro	gyroscope measurements in rad/s in BFP with INT32_RATE_FRAC
struct Int32Rates	gyro_neutral	static gyroscope bias from calibration in raw/unscaled units
struct Int32Rates	gyro_prev	previous gyroscope measurements
struct Int32Rates	gyro_unscaled	unscaled gyroscope measurements
struct Int32Vect3	mag	magnetometer measurements scaled to 1 in BFP with INT32_MAG_FRAC
struct Int32Vect3	mag_neutral	magnetometer neutral readings (bias) in raw/unscaled units
struct Int32Vect3	mag_unscaled	unscaled magnetometer measurements

Macro Definition Documentation

#define IMU_ACCEL_X_NEUTRAL   0

Definition at line 90 of file imu.h.

#define IMU_ACCEL_X_SIGN   1

Definition at line 101 of file imu.h.

#define IMU_ACCEL_Y_NEUTRAL   0

Definition at line 91 of file imu.h.

#define IMU_ACCEL_Y_SIGN   1

Definition at line 102 of file imu.h.

#define IMU_ACCEL_Z_NEUTRAL   0

Definition at line 92 of file imu.h.

#define IMU_ACCEL_Z_SIGN   1

Definition at line 103 of file imu.h.

#define IMU_BODY_TO_IMU_PHI   0

Definition at line 78 of file imu.h.

Referenced by imu_init(), and imu_SetBodyToImuCurrent().

#define IMU_BODY_TO_IMU_PSI   0

Definition at line 80 of file imu.h.

Referenced by imu_init(), and imu_SetBodyToImuCurrent().

#define IMU_BODY_TO_IMU_THETA   0

Definition at line 79 of file imu.h.

Referenced by imu_init(), and imu_SetBodyToImuCurrent().

#define IMU_GYRO_P_NEUTRAL   0

Definition at line 84 of file imu.h.

#define IMU_GYRO_P_SIGN   1

Definition at line 96 of file imu.h.

#define IMU_GYRO_Q_NEUTRAL   0

Definition at line 85 of file imu.h.

#define IMU_GYRO_Q_SIGN   1

Definition at line 97 of file imu.h.

#define IMU_GYRO_R_NEUTRAL   0

Definition at line 86 of file imu.h.

#define IMU_GYRO_R_SIGN   1

Definition at line 98 of file imu.h.

#define IMU_MAG_X_SIGN   1

Definition at line 106 of file imu.h.

#define IMU_MAG_Y_SIGN   1

Definition at line 107 of file imu.h.

#define IMU_MAG_Z_SIGN   1

Definition at line 108 of file imu.h.

Function Documentation

void imu_init

(

void

)

Definition at line 110 of file imu.c.

References Imu::accel_neutral, Imu::body_to_imu, DefaultPeriodic, gpio_setup_output(), Imu::gyro_neutral, imu, IMU_ACCEL_X_NEUTRAL, IMU_ACCEL_Y_NEUTRAL, IMU_ACCEL_Z_NEUTRAL, IMU_BODY_TO_IMU_PHI, IMU_BODY_TO_IMU_PSI, IMU_BODY_TO_IMU_THETA, IMU_GYRO_P_NEUTRAL, IMU_GYRO_Q_NEUTRAL, IMU_GYRO_R_NEUTRAL, IMU_POWER_GPIO, INT_VECT3_ZERO, Imu::mag_neutral, orientationSetEulers_f(), RATES_ASSIGN, register_periodic_telemetry(), send_accel(), send_accel_raw(), send_accel_scaled(), send_gyro(), send_gyro_raw(), send_gyro_scaled(), send_mag(), send_mag_raw(), send_mag_scaled(), and VECT3_ASSIGN.

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void imu_ResetBodyToImu

(

float

reset

)

void imu_scale_accel

(

struct Imu *

_imu

)

Definition at line 44 of file imu_vectornav.c.

References Imu::accel, Imu::accel_neutral, Imu::accel_prev, Imu::accel_unscaled, IMU_ACCEL_X_SENS_DEN, IMU_ACCEL_X_SENS_NUM, IMU_ACCEL_X_SIGN, IMU_ACCEL_Y_SENS_DEN, IMU_ACCEL_Y_SENS_NUM, IMU_ACCEL_Y_SIGN, IMU_ACCEL_Z_SENS_DEN, IMU_ACCEL_Z_SENS_NUM, IMU_ACCEL_Z_SIGN, VECT3_COPY, Int32Vect3::x, Int32Vect3::y, and Int32Vect3::z.

Referenced by handle_ins_msg(), imu_analog_periodic(), imu_apogee_event(), imu_aspirin2_event(), imu_aspirin_event(), imu_aspirin_i2c_event(), imu_b2_event(), imu_bebop_event(), imu_disco_event(), imu_drotek2_event(), imu_gl1_event(), imu_hbmini_event(), imu_krooz_periodic(), imu_mpu9250_event(), imu_mpu_hmc_event(), imu_mpu_i2c_event(), imu_mpu_spi_event(), imu_navgo_event(), imu_navstik_event(), imu_nps_event(), imu_ppzuav_event(), imu_px4_event(), imu_px4fmu_event(), imu_swing_event(), imu_umarim_event(), and navdata_publish_imu().

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void imu_scale_gyro

(

struct Imu *

_imu

)

Definition at line 43 of file imu_vectornav.c.

References Imu::gyro, Imu::gyro_neutral, Imu::gyro_prev, Imu::gyro_unscaled, IMU_GYRO_P_SENS_DEN, IMU_GYRO_P_SENS_NUM, IMU_GYRO_P_SIGN, IMU_GYRO_Q_SENS_DEN, IMU_GYRO_Q_SENS_NUM, IMU_GYRO_Q_SIGN, IMU_GYRO_R_SENS_DEN, IMU_GYRO_R_SENS_NUM, IMU_GYRO_R_SIGN, Int32Rates::p, Int32Rates::q, Int32Rates::r, and RATES_COPY.

Referenced by handle_ins_msg(), imu_analog_periodic(), imu_apogee_event(), imu_aspirin2_event(), imu_aspirin_event(), imu_aspirin_i2c_event(), imu_b2_event(), imu_bebop_event(), imu_disco_event(), imu_drotek2_event(), imu_gl1_event(), imu_hbmini_event(), imu_krooz_periodic(), imu_mpu9250_event(), imu_mpu_hmc_event(), imu_mpu_i2c_event(), imu_mpu_spi_event(), imu_navgo_event(), imu_navstik_event(), imu_nps_event(), imu_ppzuav_event(), imu_px4_event(), imu_px4fmu_event(), imu_swing_event(), imu_umarim_event(), and navdata_publish_imu().

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void imu_scale_mag

(

struct Imu *

_imu

)

Definition at line 351 of file ahrs_gx3.c.

References IMU_MAG_X_SENS_DEN, IMU_MAG_X_SENS_NUM, IMU_MAG_X_SIGN, IMU_MAG_Y_SENS_DEN, IMU_MAG_Y_SENS_NUM, IMU_MAG_Y_SIGN, IMU_MAG_Z_SENS_DEN, IMU_MAG_Z_SENS_NUM, IMU_MAG_Z_SIGN, Imu::mag, Imu::mag_neutral, Imu::mag_unscaled, Int32Vect3::x, Int32Vect3::y, and Int32Vect3::z.

Referenced by handle_ins_msg(), imu_apogee_event(), imu_aspirin2_event(), imu_aspirin_event(), imu_aspirin_i2c_event(), imu_bebop_event(), imu_disco_event(), imu_drotek2_event(), imu_gl1_event(), imu_hbmini_event(), imu_krooz_event(), imu_mpu9250_event(), imu_mpu_hmc_event(), imu_navgo_event(), imu_navstik_event(), imu_nps_event(), imu_ppzuav_event(), imu_px4_event(), imu_px4fmu_event(), mag_hmc58xx_module_event(), mag_pitot_parse_msg(), and navdata_publish_imu().

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void imu_SetBodyToImuCurrent

(

float

set

)

Definition at line 178 of file imu.c.

References Imu::b2i_set_current, Imu::body_to_imu, imu, IMU_BODY_TO_IMU_PHI, IMU_BODY_TO_IMU_PSI, IMU_BODY_TO_IMU_THETA, orientationGetEulers_f(), orientationGetQuat_f(), orientationSetEulers_f(), FloatEulers::phi, stateGetNedToBodyEulers_f(), stateIsAttitudeValid(), and FloatEulers::theta.

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void imu_SetBodyToImuPhi

(

float

phi

)

Definition at line 151 of file imu.c.

References Imu::body_to_imu, imu, orientationGetEulers_f(), orientationGetQuat_f(), orientationSetEulers_f(), and FloatEulers::phi.

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void imu_SetBodyToImuPsi

(

float

psi

)

Definition at line 169 of file imu.c.

References Imu::body_to_imu, imu, orientationGetEulers_f(), orientationGetQuat_f(), orientationSetEulers_f(), and FloatEulers::psi.

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void imu_SetBodyToImuTheta

(

float

theta

)

Definition at line 160 of file imu.c.

References Imu::body_to_imu, imu, orientationGetEulers_f(), orientationGetQuat_f(), orientationSetEulers_f(), and FloatEulers::theta.

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Variable Documentation

struct Imu imu

global IMU state

Definition at line 108 of file imu.c.

Referenced by ahrs_aligner_run(), ahrs_gx3_init(), ahrs_gx3_publish_imu(), b2_hff_propagate(), direct_memory_logger_periodic(), file_logger_periodic(), gx3_packet_read_message(), handle_ins_msg(), high_speed_logger_spi_link_periodic(), imu_analog_periodic(), imu_apogee_downlink_raw(), imu_apogee_event(), imu_aspirin2_event(), imu_aspirin_event(), imu_aspirin_i2c_event(), imu_b2_event(), imu_bebop_event(), imu_disco_event(), imu_drotek2_event(), imu_feed_gyro_accel(), imu_feed_mag(), imu_gl1_event(), imu_hbmini_downlink_raw(), imu_hbmini_event(), imu_init(), imu_krooz_downlink_raw(), imu_krooz_event(), imu_krooz_periodic(), imu_mpu9250_event(), imu_mpu_hmc_event(), imu_mpu_i2c_event(), imu_mpu_spi_event(), imu_navgo_downlink_raw(), imu_navgo_event(), imu_navstik_event(), imu_nps_event(), imu_ppzuav_event(), imu_px4_event(), imu_px4fmu_event(), imu_quality_assessment_periodic(), imu_SetBodyToImuCurrent(), imu_SetBodyToImuPhi(), imu_SetBodyToImuPsi(), imu_SetBodyToImuTheta(), imu_swing_event(), imu_um6_publish(), imu_umarim_downlink_raw(), imu_umarim_event(), imu_vectornav_propagate(), init_ap(), ins_int_propagate(), logger_uart_periodic(), mag_calib_ukf_run(), mag_hmc58xx_module_event(), mag_pitot_parse_msg(), mag_pitot_raw_downlink(), main_init(), navdata_publish_imu(), send_accel(), send_accel_raw(), send_accel_scaled(), send_aligner(), send_gyro(), send_gyro_raw(), send_gyro_scaled(), send_imu_mag_current(), send_mag(), send_mag_raw(), send_mag_scaled(), UM6_packet_read_message(), and wind_estimator_periodic().