ins_int.c File Reference

#include "subsystems/ins/ins_int.h"
#include "subsystems/abi.h"
#include "subsystems/imu.h"
#include "subsystems/gps.h"
#include "generated/airframe.h"
#include "subsystems/ins/vf_float.h"
#include "math/pprz_geodetic_int.h"
#include "math/pprz_isa.h"
#include "math/pprz_stat.h"
#include "subsystems/datalink/telemetry.h"

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Macros
#define	VFF_R_AGL   0.2
#define	INS_VFF_R_GPS   2.0
#define	INS_VFF_VZ_R_GPS   2.0
#define	INS_MAX_PROPAGATION_STEPS   200
	maximum number of propagation steps without any updates in between More...
#define	USE_INS_NAV_INIT   TRUE
#define	INS_BARO_MAX_INIT_VAR   1.f
	default barometer to use in INS More...
#define	INS_INT_BARO_ID   ABI_BROADCAST
#define	INS_INT_IMU_ID   ABI_BROADCAST
	ABI binding for IMU data. More...
#define	INS_INT_GPS_ID   GPS_MULTI_ID
#define	INS_INT_VEL_ID   ABI_BROADCAST
	ABI binding for VELOCITY_ESTIMATE. More...
#define	INS_INT_POS_ID   ABI_BROADCAST
#define	INS_INT_AGL_ID   ABI_BROADCAST
	ABI binding for AGL. More...
#define	press_hist_len   10

Functions
static void	baro_cb (uint8_t sender_id, uint32_t stamp, float pressure)
static void	accel_cb (uint8_t sender_id, uint32_t stamp, struct Int32Vect3 *accel)
static void	gps_cb (uint8_t sender_id, uint32_t stamp, struct GpsState *gps_s)
static void	vel_est_cb (uint8_t sender_id, uint32_t stamp, float x, float y, float z, float noise_x, float noise_y, float noise_z)
static void	pos_est_cb (uint8_t sender_id, uint32_t stamp, float x, float y, float z, float noise_x, float noise_y, float noise_z)
static void	agl_cb (uint8_t sender_id, uint32_t stamp, float distance)
	agl_cb This callback handles all estimates of the height of the vehicle above the ground under it This is only used with the extended version of the vertical float filter More...
static void	send_ins (struct transport_tx *trans, struct link_device *dev)
static void	send_ins_z (struct transport_tx *trans, struct link_device *dev)
static void	send_ins_ref (struct transport_tx *trans, struct link_device *dev)
static void	ins_ned_to_state (void)
	copy position and speed to state interface More...
static void	ins_update_from_vff (void)
	update ins state from vertical filter More...
void	ins_int_init (void)
void	ins_reset_local_origin (void)
	INS local origin reset. More...
void	ins_reset_altitude_ref (void)
	INS altitude reference reset. More...
void	ins_int_propagate (struct Int32Vect3 *accel, float dt)
void	ins_int_update_gps (struct GpsState *gps_s)

Variables
abi_event	baro_ev
static abi_event	accel_ev
static abi_event	gps_ev
static abi_event	vel_est_ev
static abi_event	pos_est_ev
static abi_event	agl_ev
	The agl ABI event. More...
struct InsInt	ins_int
	global INS state More...

Detailed Description

INS for rotorcrafts combining vertical and horizontal filters.

Definition in file ins_int.c.

Macro Definition Documentation

INS_BARO_MAX_INIT_VAR

#define INS_BARO_MAX_INIT_VAR   1.f

default barometer to use in INS

Definition at line 105 of file ins_int.c.

INS_INT_AGL_ID

#define INS_INT_AGL_ID   ABI_BROADCAST

ABI binding for AGL.

Usually this is comes from sonar or gps.

Definition at line 156 of file ins_int.c.

INS_INT_BARO_ID

#define INS_INT_BARO_ID   ABI_BROADCAST

Definition at line 110 of file ins_int.c.

INS_INT_GPS_ID

#define INS_INT_GPS_ID   GPS_MULTI_ID

Definition at line 127 of file ins_int.c.

INS_INT_IMU_ID

#define INS_INT_IMU_ID   ABI_BROADCAST

ABI binding for IMU data.

Used accel ABI messages.

Definition at line 121 of file ins_int.c.

INS_INT_POS_ID

#define INS_INT_POS_ID   ABI_BROADCAST

Definition at line 144 of file ins_int.c.

INS_INT_VEL_ID

#define INS_INT_VEL_ID   ABI_BROADCAST

ABI binding for VELOCITY_ESTIMATE.

Usually this is coming from opticflow.

Definition at line 136 of file ins_int.c.

INS_MAX_PROPAGATION_STEPS

#define INS_MAX_PROPAGATION_STEPS   200

maximum number of propagation steps without any updates in between

Definition at line 96 of file ins_int.c.

INS_VFF_R_GPS

#define INS_VFF_R_GPS   2.0

Definition at line 86 of file ins_int.c.

INS_VFF_VZ_R_GPS

#define INS_VFF_VZ_R_GPS   2.0

Definition at line 90 of file ins_int.c.

press_hist_len

#define press_hist_len   10

USE_INS_NAV_INIT

#define USE_INS_NAV_INIT   TRUE

Definition at line 100 of file ins_int.c.

VFF_R_AGL

#define VFF_R_AGL   0.2

Definition at line 59 of file ins_int.c.

Function Documentation

accel_cb()

static void accel_cb ( uint8_t  sender_id, uint32_t  stamp, struct Int32Vect3 *  accel  )

static

Definition at line 540 of file ins_int.c.

References ins_int_propagate(), and PRINT_CONFIG_MSG().

Referenced by ins_int_init().

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agl_cb()

static void agl_cb ( uint8_t  sender_id, uint32_t  stamp, float  distance  )

static

agl_cb This callback handles all estimates of the height of the vehicle above the ground under it This is only used with the extended version of the vertical float filter

Definition at line 501 of file ins_int.c.

Referenced by ins_int_init().

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baro_cb()

static void baro_cb ( uint8_t  sender_id, uint32_t  stamp, float  pressure  )

static

Definition at line 328 of file ins_int.c.

References InsInt::baro_initialized, InsInt::baro_z, f, idx, INS_BARO_MAX_INIT_VAR, ins_int, ins_update_from_vff(), InsInt::ltp_initialized, pprz_isa_height_of_pressure(), press_hist_len, InsInt::propagation_cnt, InsInt::qfe, stateGetPositionEnu_f(), variance_f(), InsInt::vf_reset, vff_realign(), vff_update(), vff_update_baro(), EnuCoor_f::x, and EnuCoor_f::y.

Referenced by ins_int_init().

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gps_cb()

static void gps_cb ( uint8_t  sender_id, uint32_t  stamp, struct GpsState *  gps_s  )

static

Definition at line 554 of file ins_int.c.

References ins_int_update_gps().

Referenced by ins_int_init().

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ins_int_init()

void ins_int_init

(

void

)

Definition at line 198 of file ins_int.c.

References accel_cb(), accel_ev, agl_cb(), agl_ev, baro_cb(), baro_ev, InsInt::baro_initialized, DefaultPeriodic, gps_cb(), gps_ev, InsInt::hf_realign, hff_init(), ins_init_origin_i_from_flightplan(), ins_int, INS_INT_AGL_ID, INS_INT_BARO_ID, INS_INT_GPS_ID, INS_INT_IMU_ID, INS_INT_POS_ID, INS_INT_VEL_ID, INS_MAX_PROPAGATION_STEPS, INT32_VECT3_ZERO, InsInt::ltp_accel, InsInt::ltp_def, InsInt::ltp_initialized, InsInt::ltp_pos, InsInt::ltp_speed, pos_est_cb(), pos_est_ev, InsInt::propagation_cnt, register_periodic_telemetry(), send_ins(), send_ins_ref(), send_ins_z(), vel_est_cb(), vel_est_ev, InsInt::vf_reset, and vff_init_zero().

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ins_int_propagate()

void ins_int_propagate	(	struct Int32Vect3 *	accel,
		float	dt
	)

Definition at line 283 of file ins_int.c.

References ACCEL_BFP_OF_REAL, ACCEL_FLOAT_OF_BFP, Imu::body_to_imu, hff_propagate(), imu, ins_int, INS_MAX_PROPAGATION_STEPS, ins_ned_to_state(), ins_update_from_vff(), int32_rmat_transp_vmult(), InsInt::ltp_accel, orientationGetRMat_i(), InsInt::propagation_cnt, stateGetNedToBodyRMat_i(), stateSetAccelBody_i(), vff_propagate(), NedCoor_i::x, Int32Vect3::x, NedCoor_i::y, Int32Vect3::y, NedCoor_i::z, and Int32Vect3::z.

Referenced by accel_cb().

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ins_int_update_gps()

void ins_int_update_gps

(

struct GpsState *

gps_s

)

Todo:

maybe use gps_s->ned_vel directly??

Definition at line 387 of file ins_int.c.

References GpsState::ecef_pos, GpsState::ecef_vel, f, GpsState::fix, GPS_FIX_3D, InsInt::hf_realign, hff_realign(), hff_update_gps(), ins_int, ins_ned_to_state(), ins_reset_local_origin(), INS_VFF_R_GPS, INS_VFF_VZ_R_GPS, INT32_POS_OF_CM_DEN, INT32_POS_OF_CM_NUM, int32_quat_vmult(), INT32_SPEED_OF_CM_S_DEN, INT32_SPEED_OF_CM_S_NUM, INT32_VECT2_SCALE_2, InsInt::ltp_def, InsInt::ltp_initialized, InsInt::ltp_pos, InsInt::ltp_speed, ned_of_ecef_point_i(), ned_of_ecef_vect_i(), InsInt::propagation_cnt, QUAT_INVERT, stateGetNedToBodyQuat_i(), VECT2_ASSIGN, VECT2_SDIV, VECT3_SUB, vff_update_vz_conf(), vff_update_z_conf(), NedCoor_i::x, Int32Vect3::x, NedCoor_i::y, and NedCoor_i::z.

Referenced by gps_cb().

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ins_ned_to_state()

static void ins_ned_to_state ( void  )

static

copy position and speed to state interface

Definition at line 505 of file ins_int.c.

References ins_int, InsInt::ltp_accel, InsInt::ltp_pos, InsInt::ltp_speed, nps_bypass_ins, sim_overwrite_ins(), stateSetAccelNed_i(), stateSetPositionNed_i(), and stateSetSpeedNed_i().

Referenced by ins_int_propagate(), ins_int_update_gps(), pos_est_cb(), and vel_est_cb().

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ins_reset_altitude_ref()

void ins_reset_altitude_ref

(

void

)

INS altitude reference reset.

Reset only vertical reference to the current altitude. Does nothing if not implemented by specific INS algorithm.

Definition at line 266 of file ins_int.c.

References LlaCoor_i::alt, gps, GpsFixValid, GpsState::hmsl, LtpDef_i::hmsl, ins_int, LlaCoor_i::lat, LtpDef_i::lla, GpsState::lla_pos, LlaCoor_i::lon, InsInt::ltp_def, ltp_def_from_lla_i(), State::ned_origin_i, state, stateSetLocalOrigin_i(), and InsInt::vf_reset.

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ins_reset_local_origin()

void ins_reset_local_origin

(

void

)

INS local origin reset.

Reset horizontal and vertical reference to the current position. Does nothing if not implemented by specific INS algorithm.

INS local origin reset.

Definition at line 244 of file ins_int.c.

References LlaCoor_i::alt, GpsState::ecef_pos, gps, GpsFixValid, InsInt::hf_realign, GpsState::hmsl, LtpDef_i::hmsl, ins_int, LtpDef_i::lla, GpsState::lla_pos, InsInt::ltp_def, ltp_def_from_ecef_i(), InsInt::ltp_initialized, stateSetLocalOrigin_i(), and InsInt::vf_reset.

Referenced by ins_int_update_gps().

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ins_update_from_vff()

static void ins_update_from_vff ( void  )

static

update ins state from vertical filter

Definition at line 519 of file ins_int.c.

References ACCEL_BFP_OF_REAL, ins_int, InsInt::ltp_accel, InsInt::ltp_pos, InsInt::ltp_speed, POS_BFP_OF_REAL, SPEED_BFP_OF_REAL, vff, VffExtended::z, NedCoor_i::z, VffExtended::zdot, and VffExtended::zdotdot.

Referenced by baro_cb(), and ins_int_propagate().

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pos_est_cb()

static void pos_est_cb ( uint8_t  sender_id, uint32_t  stamp, float  x, float  y, float  z, float  noise_x, float  noise_y, float  noise_z  )

static

Definition at line 626 of file ins_int.c.

References f, hff_update_pos(), ins_int, ins_ned_to_state(), InsInt::ltp_pos, POS_BFP_OF_REAL, InsInt::propagation_cnt, vff_update_z_conf(), FloatVect2::x, NedCoor_i::x, FloatVect2::y, and NedCoor_i::y.

Referenced by ins_int_init().

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send_ins()

static void send_ins ( struct transport_tx *  trans, struct link_device *  dev  )

static

Definition at line 166 of file ins_int.c.

References dev, ins_int, InsInt::ltp_accel, InsInt::ltp_pos, InsInt::ltp_speed, NedCoor_i::x, NedCoor_i::y, and NedCoor_i::z.

Referenced by ins_int_init().

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send_ins_ref()

static void send_ins_ref ( struct transport_tx *  trans, struct link_device *  dev  )

static

Definition at line 180 of file ins_int.c.

References LlaCoor_i::alt, dev, LtpDef_i::ecef, LtpDef_i::hmsl, ins_int, LlaCoor_i::lat, LtpDef_i::lla, LlaCoor_i::lon, InsInt::ltp_def, InsInt::ltp_initialized, InsInt::qfe, EcefCoor_i::x, EcefCoor_i::y, and EcefCoor_i::z.

Referenced by ins_int_init().

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send_ins_z()

static void send_ins_z ( struct transport_tx *  trans, struct link_device *  dev  )

static

Definition at line 174 of file ins_int.c.

References InsInt::baro_z, dev, ins_int, InsInt::ltp_accel, InsInt::ltp_pos, InsInt::ltp_speed, and NedCoor_i::z.

Referenced by ins_int_init().

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vel_est_cb()

static void vel_est_cb ( uint8_t  sender_id, uint32_t  stamp, float  x, float  y, float  z, float  noise_x, float  noise_y, float  noise_z  )

static

Definition at line 564 of file ins_int.c.

References f, float_quat_vmult(), hff_update_vel(), ins_int, ins_ned_to_state(), InsInt::ltp_pos, InsInt::ltp_speed, POS_BFP_OF_REAL, InsInt::propagation_cnt, QUAT_INVERT, SPEED_BFP_OF_REAL, stateGetNedToBodyQuat_f(), vff_update_vz_conf(), FloatVect3::x, NedCoor_i::x, FloatVect3::y, NedCoor_i::y, and FloatVect3::z.

Referenced by ins_int_init().

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Variable Documentation

accel_ev

abi_event accel_ev

static

Definition at line 123 of file ins_int.c.

Referenced by ins_int_init().

agl_ev

abi_event agl_ev

static

The agl ABI event.

Definition at line 158 of file ins_int.c.

Referenced by ins_int_init().

baro_ev

abi_event baro_ev

Definition at line 114 of file ins_int.c.

Referenced by ins_int_init().

gps_ev

abi_event gps_ev

static

Definition at line 129 of file ins_int.c.

Referenced by ins_int_init().

ins_int

struct InsInt ins_int

global INS state

Definition at line 161 of file ins_int.c.

Referenced by baro_cb(), ins_int_init(), ins_int_propagate(), ins_int_update_gps(), ins_ned_to_state(), ins_reset_altitude_ref(), ins_reset_local_origin(), ins_update_from_vff(), pos_est_cb(), send_ins(), send_ins_ref(), send_ins_z(), and vel_est_cb().

pos_est_ev

abi_event pos_est_ev

static

Definition at line 146 of file ins_int.c.

Referenced by ins_int_init().

vel_est_ev

abi_event vel_est_ev

static

Definition at line 138 of file ins_int.c.

Referenced by ins_int_init().