ins_float_invariant.h

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/*
 * Copyright (C) 2012-2013 Jean-Philippe Condomines, Gautier Hattenberger
 *
 * This file is part of paparazzi.
 *
 * paparazzi is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2, or (at your option)
 * any later version.
 *
 * paparazzi is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with paparazzi; see the file COPYING.  If not, see
 * <http://www.gnu.org/licenses/>.
 */

#ifndef INS_FLOAT_INVARIANT_H
#define INS_FLOAT_INVARIANT_H

#include "subsystems/ins.h"
#include "subsystems/gps.h"
#include "math/pprz_algebra_float.h"
#include "math/pprz_orientation_conversion.h"

#define INV_STATE_DIM 15

struct inv_state  {
  struct FloatQuat quat;  
  struct FloatRates bias; 
  struct NedCoor_f speed; 
  struct NedCoor_f pos;   
  float hb;               
  float as;               
//float cs;               ///< Estimated magnetic sensitivity
};

#define INV_MEASURE_DIM 10

struct inv_measures {
  struct NedCoor_f pos_gps;   
  struct NedCoor_f speed_gps; 
  struct FloatVect3 mag;      
  float baro_alt;             
};

#define INV_COMMAND_DIM 6

struct inv_command {
  struct FloatRates rates;  
  struct FloatVect3 accel;  
};

struct inv_correction_gains {
  struct FloatVect3 LE;   
  struct FloatVect3 ME;   
  struct FloatVect3 NE;   
  struct FloatVect3 OE;   
  float RE;               
  float SE;               
};

struct inv_gains {
  float lv;     
  float lb;     
  float mv;     
  float mvz;    
  float mh;     
  float nx;     
  float nxz;    
  float nh;     
  float ov;     
  float ob;     
  float rv;     
  float rh;     
  float sh;     
};

struct InsFloatInv {
  struct inv_state state;             
  struct inv_measures meas;           
  struct inv_command cmd;             
  struct inv_correction_gains corr;   
  struct inv_gains gains;             

  bool reset;                       

  struct OrientationReps body_to_imu;

  struct FloatVect3 mag_h;
  bool is_aligned;
};

extern struct InsFloatInv ins_float_inv;

extern void ins_float_invariant_init(void);
extern void ins_float_inv_set_body_to_imu_quat(struct FloatQuat *q_b2i);
extern void ins_float_invariant_align(struct FloatRates *lp_gyro,
                                      struct FloatVect3 *lp_accel,
                                      struct FloatVect3 *lp_mag);
extern void ins_float_invariant_propagate(struct FloatRates* gyro,
                                          struct FloatVect3* accel, float dt);
extern void ins_float_invariant_update_mag(struct FloatVect3* mag);
extern void ins_float_invariant_update_baro(float pressure);
extern void ins_float_invariant_update_gps(struct GpsState *gps_s);

#endif /* INS_FLOAT_INVARIANT_H */