ins_float_invariant_wrapper.c File Reference

Paparazzi specific wrapper to run INVARIANT filter. More...

#include "subsystems/ins/ins_float_invariant_wrapper.h"
#include "subsystems/abi.h"
#include "mcu_periph/sys_time.h"
#include "message_pragmas.h"

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Macros
#define	INS_FINV_FILTER_ID   2
#define	INS_FINV_BARO_ID   ABI_BROADCAST
	baro More...
#define	INS_FINV_IMU_ID   ABI_BROADCAST
	IMU (gyro, accel) More...
#define	INS_FINV_MAG_ID   ABI_BROADCAST
	magnetometer More...

Functions
static void	baro_cb (uint8_t sender_id, float pressure)
static void	gyro_cb (uint8_t sender_id, uint32_t stamp, struct Int32Rates *gyro)
	Call ins_float_invariant_propagate on new gyro measurements. More...
static void	accel_cb (uint8_t sender_id, uint32_t stamp, struct Int32Vect3 *accel)
static void	mag_cb (uint8_t sender_id, uint32_t stamp, struct Int32Vect3 *mag)
static void	aligner_cb (uint8_t sender_id, uint32_t stamp, struct Int32Rates *lp_gyro, struct Int32Vect3 *lp_accel, struct Int32Vect3 *lp_mag)
static void	body_to_imu_cb (uint8_t sender_id, struct FloatQuat *q_b2i_f)
static void	geo_mag_cb (uint8_t sender_id, struct FloatVect3 *h)
static void	gps_cb (uint8_t sender_id, uint32_t stamp, struct GpsState *gps_s)
void	ins_float_invariant_register (void)

Variables
static struct Int32Vect3	ins_finv_accel
	last accel measurement More...
static uint32_t	ins_finv_last_stamp = 0
	last gyro msg timestamp More...
static abi_event	baro_ev
static abi_event	mag_ev
static abi_event	gyro_ev
static abi_event	accel_ev
static abi_event	aligner_ev
static abi_event	body_to_imu_ev
static abi_event	geo_mag_ev
static abi_event	gps_ev

Detailed Description

Paparazzi specific wrapper to run INVARIANT filter.

Definition in file ins_float_invariant_wrapper.c.

Macro Definition Documentation

#define INS_FINV_BARO_ID   ABI_BROADCAST

baro

Definition at line 80 of file ins_float_invariant_wrapper.c.

Referenced by ins_float_invariant_register().

#define INS_FINV_FILTER_ID   2

Definition at line 34 of file ins_float_invariant_wrapper.c.

#define INS_FINV_IMU_ID   ABI_BROADCAST

IMU (gyro, accel)

Definition at line 87 of file ins_float_invariant_wrapper.c.

Referenced by ins_float_invariant_register().

#define INS_FINV_MAG_ID   ABI_BROADCAST

magnetometer

Definition at line 93 of file ins_float_invariant_wrapper.c.

Referenced by ins_float_invariant_register().

Function Documentation

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

static

Definition at line 139 of file ins_float_invariant_wrapper.c.

References ins_finv_accel.

Referenced by ins_float_invariant_register().

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static void aligner_cb ( uint8_t  sender_id, uint32_t  stamp, struct Int32Rates *  lp_gyro, struct Int32Vect3 *  lp_accel, struct Int32Vect3 *  lp_mag  )

static

Definition at line 155 of file ins_float_invariant_wrapper.c.

References ins_float_inv, ins_float_invariant_align(), and InsFloatInv::is_aligned.

Referenced by ins_float_invariant_register().

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static void baro_cb ( uint8_t  sender_id, float  pressure  )

static

Definition at line 106 of file ins_float_invariant_wrapper.c.

References ins_float_invariant_update_baro().

Referenced by ins_float_invariant_register().

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static void body_to_imu_cb ( uint8_t  sender_id, struct FloatQuat *  q_b2i_f  )

static

Definition at line 165 of file ins_float_invariant_wrapper.c.

References ins_float_inv_set_body_to_imu_quat().

Referenced by ins_float_invariant_register().

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static void geo_mag_cb ( uint8_t  sender_id, struct FloatVect3 *  h  )

static

Definition at line 171 of file ins_float_invariant_wrapper.c.

References ins_float_inv, and InsFloatInv::mag_h.

Referenced by ins_float_invariant_register().

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

static

Definition at line 176 of file ins_float_invariant_wrapper.c.

References ins_float_invariant_update_gps().

Referenced by ins_float_invariant_register().

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static void gyro_cb ( uint8_t  sender_id, uint32_t  stamp, struct Int32Rates *  gyro  )

static

Call ins_float_invariant_propagate on new gyro measurements.

Since acceleration measurement is also needed for propagation, use the last stored accel from ins_finv_accel.

Definition at line 116 of file ins_float_invariant_wrapper.c.

References ins_finv_accel, ins_finv_last_stamp, ins_float_invariant_propagate(), and PRINT_CONFIG_MSG().

Referenced by ins_float_invariant_register().

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void ins_float_invariant_register

(

void

)

Definition at line 184 of file ins_float_invariant_wrapper.c.

References ABI_BROADCAST, accel_cb(), accel_ev, aligner_cb(), aligner_ev, baro_cb(), baro_ev, body_to_imu_cb(), body_to_imu_ev, DefaultPeriodic, geo_mag_cb(), geo_mag_ev, gps_cb(), gps_ev, gyro_cb(), gyro_ev, INS_FINV_BARO_ID, INS_FINV_IMU_ID, INS_FINV_MAG_ID, ins_float_invariant_init(), ins_register_impl(), mag_cb(), mag_ev, and register_periodic_telemetry().

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static void mag_cb ( uint8_t  sender_id, uint32_t  stamp, struct Int32Vect3 *  mag  )

static

Definition at line 146 of file ins_float_invariant_wrapper.c.

References ins_float_inv, ins_float_invariant_update_mag(), and InsFloatInv::is_aligned.

Referenced by ins_float_invariant_register().

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Variable Documentation

abi_event accel_ev

static

Definition at line 100 of file ins_float_invariant_wrapper.c.

Referenced by ins_float_invariant_register().

abi_event aligner_ev

static

Definition at line 101 of file ins_float_invariant_wrapper.c.

Referenced by ins_float_invariant_register().

abi_event baro_ev

static

Definition at line 97 of file ins_float_invariant_wrapper.c.

Referenced by ins_float_invariant_register().

abi_event body_to_imu_ev

static

Definition at line 102 of file ins_float_invariant_wrapper.c.

Referenced by ins_float_invariant_register().

abi_event geo_mag_ev

static

Definition at line 103 of file ins_float_invariant_wrapper.c.

Referenced by ins_float_invariant_register().

abi_event gps_ev

static

Definition at line 104 of file ins_float_invariant_wrapper.c.

Referenced by ins_float_invariant_register().

abi_event gyro_ev

static

Definition at line 99 of file ins_float_invariant_wrapper.c.

Referenced by ins_float_invariant_register().

struct Int32Vect3 ins_finv_accel

static

last accel measurement

Definition at line 38 of file ins_float_invariant_wrapper.c.

Referenced by accel_cb(), and gyro_cb().

uint32_t ins_finv_last_stamp = 0

static

last gyro msg timestamp

Definition at line 41 of file ins_float_invariant_wrapper.c.

Referenced by gyro_cb().

abi_event mag_ev

static

Definition at line 98 of file ins_float_invariant_wrapper.c.

Referenced by ins_float_invariant_register().