Paparazzi UAS  v5.2.2_stable-0-gd6b9f29
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ins_alt_float.c File Reference

Filters altitude and climb rate for fixedwings. More...

#include "subsystems/ins/ins_alt_float.h"
#include "subsystems/abi.h"
#include <inttypes.h>
#include <math.h>
#include "state.h"
#include "subsystems/gps.h"
#include "firmwares/fixedwing/nav.h"
#include "generated/airframe.h"
#include "generated/modules.h"
#include "subsystems/sensors/baro.h"
#include "math/pprz_isa.h"
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Go to the source code of this file.

Macros

#define INS_BARO_ID   ABI_BROADCAST
 
#define GPS_DT   0.25
 
#define GPS_SIGMA2   1.
 
#define GPS_R   2.
 

Functions

static void baro_cb (uint8_t sender_id, const float *pressure)
 
static void alt_kalman_reset (void)
 
static void alt_kalman_init (void)
 
static void alt_kalman (float)
 
void ins_init (void)
 INS initialization. More...
 
void ins_reset_local_origin (void)
 Reset the geographic reference to the current GPS fix. More...
 
void ins_reset_altitude_ref (void)
 INS altitude reference reset. More...
 
void ins_update_gps (void)
 Update INS state with GPS measurements. More...
 

Variables

struct InsAltFloat ins_impl
 global INS state More...
 
abi_event baro_ev
 
static float p [2][2]
 

Detailed Description

Filters altitude and climb rate for fixedwings.

Definition in file ins_alt_float.c.

Macro Definition Documentation

#define GPS_DT   0.25

Definition at line 203 of file ins_alt_float.c.

Referenced by alt_kalman().

#define GPS_R   2.

Definition at line 206 of file ins_alt_float.c.

Referenced by alt_kalman().

#define GPS_SIGMA2   1.

Definition at line 205 of file ins_alt_float.c.

Referenced by alt_kalman().

#define INS_BARO_ID   ABI_BROADCAST

Definition at line 64 of file ins_alt_float.c.

Referenced by ins_init().

Function Documentation

static void alt_kalman_init ( void  )
static

Definition at line 217 of file ins_alt_float.c.

References alt_kalman_reset().

Referenced by ins_init().

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static void alt_kalman_reset ( void  )
static

Definition at line 210 of file ins_alt_float.c.

Referenced by alt_kalman_init(), baro_cb(), and ins_update_gps().

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static void baro_cb ( uint8_t  sender_id,
const float *  pressure 
)
static
void ins_init ( void  )

INS initialization.

Called at startup. Needs to be implemented by each INS algorithm.

Definition at line 76 of file ins_alt_float.c.

Referenced by init_ap(), and main_init().

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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 124 of file ins_alt_float.c.

Referenced by nav_reset_alt().

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void ins_reset_local_origin ( void  )

Reset the geographic reference to the current GPS fix.

INS local origin reset.

Definition at line 101 of file ins_alt_float.c.

Referenced by nav_reset_reference().

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void ins_update_gps ( void  )

Update INS state with GPS measurements.

Reads the global gps data struct. Does nothing if not implemented by specific INS algorithm.

Definition at line 166 of file ins_alt_float.c.

Referenced by on_gps_event(), and on_gps_solution().

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Variable Documentation

abi_event baro_ev

Definition at line 68 of file ins_alt_float.c.