Paparazzi UAS  v6.2_unstable
Paparazzi is a free software Unmanned Aircraft System.
ahrs_aligner.c File Reference
#include "ahrs_aligner.h"
#include <stdlib.h>
#include "modules/imu/imu.h"
#include "led.h"
#include "modules/core/abi.h"
#include "mcu_periph/sys_time.h"
#include "modules/datalink/telemetry.h"
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Macros

#define AHRS_ALIGNER_SAMPLES_NB   100
 
#define AHRS_ALIGNER_IMU_ID   ABI_BROADCAST
 
#define LOW_NOISE_THRESHOLD   90000
 
#define LOW_NOISE_TIME   5
 Number of cycles (100 samples each) with low noise. More...
 

Functions

static void gyro_cb (uint8_t sender_id, uint32_t stamp, struct Int32Rates *gyro)
 
static void send_aligner (struct transport_tx *trans, struct link_device *dev)
 
void ahrs_aligner_init (void)
 
void ahrs_aligner_restart (void)
 
void ahrs_aligner_run (void)
 

Variables

struct AhrsAligner ahrs_aligner
 
static struct Int32Rates gyro_sum
 
static struct Int32Vect3 accel_sum
 
static struct Int32Vect3 mag_sum
 
static int32_t ref_sensor_samples [AHRS_ALIGNER_SAMPLES_NB]
 
static uint32_t samples_idx
 
static abi_event gyro_ev
 

Detailed Description

Low-pass IMU measurements at startup to align the AHRS.

Definition in file ahrs_aligner.c.

Macro Definition Documentation

◆ AHRS_ALIGNER_IMU_ID

#define AHRS_ALIGNER_IMU_ID   ABI_BROADCAST

Definition at line 50 of file ahrs_aligner.c.

◆ AHRS_ALIGNER_SAMPLES_NB

#define AHRS_ALIGNER_SAMPLES_NB   100

Definition at line 40 of file ahrs_aligner.c.

◆ LOW_NOISE_THRESHOLD

#define LOW_NOISE_THRESHOLD   90000

Definition at line 105 of file ahrs_aligner.c.

◆ LOW_NOISE_TIME

#define LOW_NOISE_TIME   5

Number of cycles (100 samples each) with low noise.

Definition at line 109 of file ahrs_aligner.c.

Function Documentation

◆ ahrs_aligner_init()

void ahrs_aligner_init ( void  )

Definition at line 81 of file ahrs_aligner.c.

References AHRS_ALIGNER_IMU_ID, ahrs_aligner_restart(), DefaultPeriodic, gyro_cb(), gyro_ev, register_periodic_telemetry(), and send_aligner().

Referenced by ahrs_init(), ins_float_invariant_wrapper_init(), and ins_mekf_wind_wrapper_init().

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◆ ahrs_aligner_restart()

void ahrs_aligner_restart ( void  )

◆ ahrs_aligner_run()

◆ gyro_cb()

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

Definition at line 54 of file ahrs_aligner.c.

References ahrs_aligner, AHRS_ALIGNER_LOCKED, ahrs_aligner_run(), and AhrsAligner::status.

Referenced by ahrs_aligner_init().

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◆ send_aligner()

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

Definition at line 66 of file ahrs_aligner.c.

References ahrs_aligner, dev, Imu::gyro, imu, AhrsAligner::low_noise_cnt, AhrsAligner::lp_gyro, AhrsAligner::noise, Int32Rates::p, Int32Rates::q, Int32Rates::r, and AhrsAligner::status.

Referenced by ahrs_aligner_init().

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Variable Documentation

◆ accel_sum

struct Int32Vect3 accel_sum
static

Definition at line 44 of file ahrs_aligner.c.

Referenced by ahrs_aligner_restart(), and ahrs_aligner_run().

◆ ahrs_aligner

struct AhrsAligner ahrs_aligner

Definition at line 37 of file ahrs_aligner.c.

Referenced by ahrs_aligner_restart(), ahrs_aligner_run(), gyro_cb(), and send_aligner().

◆ gyro_ev

abi_event gyro_ev
static

Definition at line 52 of file ahrs_aligner.c.

Referenced by ahrs_aligner_init().

◆ gyro_sum

struct Int32Rates gyro_sum
static

Definition at line 43 of file ahrs_aligner.c.

Referenced by ahrs_aligner_restart(), and ahrs_aligner_run().

◆ mag_sum

struct Int32Vect3 mag_sum
static

Definition at line 45 of file ahrs_aligner.c.

Referenced by ahrs_aligner_restart(), and ahrs_aligner_run().

◆ ref_sensor_samples

int32_t ref_sensor_samples[AHRS_ALIGNER_SAMPLES_NB]
static

Definition at line 46 of file ahrs_aligner.c.

Referenced by ahrs_aligner_run().

◆ samples_idx

uint32_t samples_idx
static

Definition at line 47 of file ahrs_aligner.c.

Referenced by ahrs_aligner_restart(), and ahrs_aligner_run().