Paparazzi UAS  v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
ins_ekf2.cpp File Reference

INS based in the EKF2 of PX4. More...

#include "modules/ins/ins_ekf2.h"
#include "modules/nav/waypoints.h"
#include "modules/core/abi.h"
#include "stabilization/stabilization_attitude.h"
#include "generated/airframe.h"
#include "generated/flight_plan.h"
#include "EKF/ekf.h"
#include "math/pprz_isa.h"
#include "math/pprz_geodetic_wgs84.h"
#include "mcu_periph/sys_time.h"
#include "autopilot.h"
#include "modules/datalink/telemetry.h"
+ Include dependency graph for ins_ekf2.cpp:

Go to the source code of this file.

Macros

#define USE_INS_NAV_INIT   TRUE
 For SITL and NPS we need special includes. More...
 
#define INS_EKF2_FUSION_MODE   (MASK_USE_GPS)
 Special configuration for Optitrack. More...
 
#define INS_EKF2_VDIST_SENSOR_TYPE   VDIST_SENSOR_BARO
 The EKF2 primary vertical distance sensor type. More...
 
#define INS_EKF2_GPS_CHECK_MASK   21
 The EKF2 GPS checks before initialization. More...
 
#define INS_EKF2_SONAR_MIN_RANGE   0.001
 Default AGL sensor minimum range. More...
 
#define INS_EKF2_SONAR_MAX_RANGE   4
 Default AGL sensor maximum range. More...
 
#define INS_EKF2_RANGE_MAIN_AGL   1
 If enabled uses radar sensor as primary AGL source, if possible. More...
 
#define INS_EKF2_BARO_ID   ABI_BROADCAST
 default barometer to use in INS More...
 
#define INS_EKF2_TEMPERATURE_ID   ABI_BROADCAST
 default temperature sensor to use in INS More...
 
#define INS_EKF2_AGL_ID   ABI_BROADCAST
 default AGL sensor to use in INS More...
 
#define INS_EKF2_GYRO_ID   ABI_BROADCAST
 
#define INS_EKF2_ACCEL_ID   ABI_BROADCAST
 
#define INS_EKF2_MAG_ID   ABI_BROADCAST
 
#define INS_EKF2_GPS_ID   GPS_MULTI_ID
 
#define INS_EKF2_OF_ID   ABI_BROADCAST
 
#define INS_EKF2_IMU_POS_X   0
 
#define INS_EKF2_IMU_POS_Y   0
 
#define INS_EKF2_IMU_POS_Z   0
 
#define INS_EKF2_GPS_POS_X   0
 
#define INS_EKF2_GPS_POS_Y   0
 
#define INS_EKF2_GPS_POS_Z   0
 
#define INS_EKF2_FLOW_SENSOR_DELAY   15
 
#define INS_EKF2_MIN_FLOW_QUALITY   100
 
#define INS_EKF2_MAX_FLOW_RATE   200
 
#define INS_EKF2_FLOW_POS_X   0
 
#define INS_EKF2_FLOW_POS_Y   0
 
#define INS_EKF2_FLOW_POS_Z   0
 
#define INS_EKF2_FLOW_NOISE   0.03
 
#define INS_EKF2_FLOW_NOISE_QMIN   0.05
 
#define INS_EKF2_FLOW_INNOV_GATE   4
 
#define INS_EKF2_EVP_NOISE   0.02f
 
#define INS_EKF2_EVV_NOISE   0.1f
 
#define INS_EKF2_EVA_NOISE   0.05f
 
#define INS_EKF2_GPS_V_NOISE   0.3f
 
#define INS_EKF2_GPS_P_NOISE   0.5f
 
#define INS_EKF2_BARO_NOISE   3.5f
 

Functions

static void baro_cb (uint8_t sender_id, uint32_t stamp, float pressure)
 
static void temperature_cb (uint8_t sender_id, float temp)
 
static void agl_cb (uint8_t sender_id, uint32_t stamp, float distance)
 
static void gyro_int_cb (uint8_t sender_id, uint32_t stamp, struct FloatRates *delta_gyro, uint16_t dt)
 
static void accel_int_cb (uint8_t sender_id, uint32_t stamp, struct FloatVect3 *delta_accel, uint16_t dt)
 
static void mag_cb (uint8_t sender_id, uint32_t stamp, struct Int32Vect3 *mag)
 
static void gps_cb (uint8_t sender_id, uint32_t stamp, struct GpsState *gps_s)
 
static void optical_flow_cb (uint8_t sender_id, uint32_t stamp, int32_t flow_x, int32_t flow_y, int32_t flow_der_x, int32_t flow_der_y, float quality, float size_divergence)
 
static void ins_ekf2_publish_attitude (uint32_t stamp)
 Publish the attitude and get the new state Directly called after a succeslfull gyro+accel reading. 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 send_ins_ekf2 (struct transport_tx *trans, struct link_device *dev)
 
static void send_ins_ekf2_ext (struct transport_tx *trans, struct link_device *dev)
 
static void send_filter_status (struct transport_tx *trans, struct link_device *dev)
 
static void send_wind_info_ret (struct transport_tx *trans, struct link_device *dev)
 
static void send_ahrs_bias (struct transport_tx *trans, struct link_device *dev)
 
static void send_ahrs_quat (struct transport_tx *trans, struct link_device *dev)
 
static void send_external_pose_down (struct transport_tx *trans, struct link_device *dev)
 
void ins_ekf2_init (void)
 
void ins_reset_local_origin (void)
 INS local origin reset. More...
 
void ins_ekf2_update (void)
 
void ins_ekf2_change_param (int32_t unk)
 
void ins_ekf2_remove_gps (int32_t mode)
 
void ins_ekf2_parse_EXTERNAL_POSE (uint8_t *buf)
 
void ins_ekf2_parse_EXTERNAL_POSE_SMALL (uint8_t *buf)
 

Variables

static abi_event baro_ev
 
static abi_event temperature_ev
 
static abi_event agl_ev
 
static abi_event gyro_int_ev
 
static abi_event accel_int_ev
 
static abi_event mag_ev
 
static abi_event gps_ev
 
static abi_event optical_flow_ev
 
static Ekf ekf
 EKF class itself. More...
 
static parametersekf_params
 The EKF parameters. More...
 
struct ekf2_t ekf2
 Local EKF2 status structure. More...
 
static struct extVisionSample sample_ev
 External vision sample. More...
 

Detailed Description

INS based in the EKF2 of PX4.

Definition in file ins_ekf2.cpp.

Macro Definition Documentation

◆ INS_EKF2_ACCEL_ID

#define INS_EKF2_ACCEL_ID   ABI_BROADCAST

Definition at line 128 of file ins_ekf2.cpp.

◆ INS_EKF2_AGL_ID

#define INS_EKF2_AGL_ID   ABI_BROADCAST

default AGL sensor to use in INS

Definition at line 116 of file ins_ekf2.cpp.

◆ INS_EKF2_BARO_ID

#define INS_EKF2_BARO_ID   ABI_BROADCAST

default barometer to use in INS

Definition at line 103 of file ins_ekf2.cpp.

◆ INS_EKF2_BARO_NOISE

#define INS_EKF2_BARO_NOISE   3.5f

Definition at line 272 of file ins_ekf2.cpp.

◆ INS_EKF2_EVA_NOISE

#define INS_EKF2_EVA_NOISE   0.05f

Definition at line 254 of file ins_ekf2.cpp.

◆ INS_EKF2_EVP_NOISE

#define INS_EKF2_EVP_NOISE   0.02f

Definition at line 242 of file ins_ekf2.cpp.

◆ INS_EKF2_EVV_NOISE

#define INS_EKF2_EVV_NOISE   0.1f

Definition at line 248 of file ins_ekf2.cpp.

◆ INS_EKF2_FLOW_INNOV_GATE

#define INS_EKF2_FLOW_INNOV_GATE   4

Definition at line 236 of file ins_ekf2.cpp.

◆ INS_EKF2_FLOW_NOISE

#define INS_EKF2_FLOW_NOISE   0.03

Definition at line 224 of file ins_ekf2.cpp.

◆ INS_EKF2_FLOW_NOISE_QMIN

#define INS_EKF2_FLOW_NOISE_QMIN   0.05

Definition at line 230 of file ins_ekf2.cpp.

◆ INS_EKF2_FLOW_POS_X

#define INS_EKF2_FLOW_POS_X   0

Definition at line 206 of file ins_ekf2.cpp.

◆ INS_EKF2_FLOW_POS_Y

#define INS_EKF2_FLOW_POS_Y   0

Definition at line 212 of file ins_ekf2.cpp.

◆ INS_EKF2_FLOW_POS_Z

#define INS_EKF2_FLOW_POS_Z   0

Definition at line 218 of file ins_ekf2.cpp.

◆ INS_EKF2_FLOW_SENSOR_DELAY

#define INS_EKF2_FLOW_SENSOR_DELAY   15

Definition at line 188 of file ins_ekf2.cpp.

◆ INS_EKF2_FUSION_MODE

#define INS_EKF2_FUSION_MODE   (MASK_USE_GPS)

Special configuration for Optitrack.

The EKF2 fusion mode setting

Definition at line 64 of file ins_ekf2.cpp.

◆ INS_EKF2_GPS_CHECK_MASK

#define INS_EKF2_GPS_CHECK_MASK   21

The EKF2 GPS checks before initialization.

Definition at line 76 of file ins_ekf2.cpp.

◆ INS_EKF2_GPS_ID

#define INS_EKF2_GPS_ID   GPS_MULTI_ID

Definition at line 140 of file ins_ekf2.cpp.

◆ INS_EKF2_GPS_P_NOISE

#define INS_EKF2_GPS_P_NOISE   0.5f

Definition at line 266 of file ins_ekf2.cpp.

◆ INS_EKF2_GPS_POS_X

#define INS_EKF2_GPS_POS_X   0

Definition at line 170 of file ins_ekf2.cpp.

◆ INS_EKF2_GPS_POS_Y

#define INS_EKF2_GPS_POS_Y   0

Definition at line 176 of file ins_ekf2.cpp.

◆ INS_EKF2_GPS_POS_Z

#define INS_EKF2_GPS_POS_Z   0

Definition at line 182 of file ins_ekf2.cpp.

◆ INS_EKF2_GPS_V_NOISE

#define INS_EKF2_GPS_V_NOISE   0.3f

Definition at line 260 of file ins_ekf2.cpp.

◆ INS_EKF2_GYRO_ID

#define INS_EKF2_GYRO_ID   ABI_BROADCAST

Definition at line 122 of file ins_ekf2.cpp.

◆ INS_EKF2_IMU_POS_X

#define INS_EKF2_IMU_POS_X   0

Definition at line 152 of file ins_ekf2.cpp.

◆ INS_EKF2_IMU_POS_Y

#define INS_EKF2_IMU_POS_Y   0

Definition at line 158 of file ins_ekf2.cpp.

◆ INS_EKF2_IMU_POS_Z

#define INS_EKF2_IMU_POS_Z   0

Definition at line 164 of file ins_ekf2.cpp.

◆ INS_EKF2_MAG_ID

#define INS_EKF2_MAG_ID   ABI_BROADCAST

Definition at line 134 of file ins_ekf2.cpp.

◆ INS_EKF2_MAX_FLOW_RATE

#define INS_EKF2_MAX_FLOW_RATE   200

Definition at line 200 of file ins_ekf2.cpp.

◆ INS_EKF2_MIN_FLOW_QUALITY

#define INS_EKF2_MIN_FLOW_QUALITY   100

Definition at line 194 of file ins_ekf2.cpp.

◆ INS_EKF2_OF_ID

#define INS_EKF2_OF_ID   ABI_BROADCAST

Definition at line 146 of file ins_ekf2.cpp.

◆ INS_EKF2_RANGE_MAIN_AGL

#define INS_EKF2_RANGE_MAIN_AGL   1

If enabled uses radar sensor as primary AGL source, if possible.

Definition at line 94 of file ins_ekf2.cpp.

◆ INS_EKF2_SONAR_MAX_RANGE

#define INS_EKF2_SONAR_MAX_RANGE   4

Default AGL sensor maximum range.

Definition at line 88 of file ins_ekf2.cpp.

◆ INS_EKF2_SONAR_MIN_RANGE

#define INS_EKF2_SONAR_MIN_RANGE   0.001

Default AGL sensor minimum range.

Definition at line 82 of file ins_ekf2.cpp.

◆ INS_EKF2_TEMPERATURE_ID

#define INS_EKF2_TEMPERATURE_ID   ABI_BROADCAST

default temperature sensor to use in INS

Definition at line 110 of file ins_ekf2.cpp.

◆ INS_EKF2_VDIST_SENSOR_TYPE

#define INS_EKF2_VDIST_SENSOR_TYPE   VDIST_SENSOR_BARO

The EKF2 primary vertical distance sensor type.

Definition at line 70 of file ins_ekf2.cpp.

◆ USE_INS_NAV_INIT

#define USE_INS_NAV_INIT   TRUE

For SITL and NPS we need special includes.

INS reference from flight plan, true by default

Definition at line 49 of file ins_ekf2.cpp.

Function Documentation

◆ accel_int_cb()

static void accel_int_cb ( uint8_t  sender_id,
uint32_t  stamp,
struct FloatVect3 delta_accel,
uint16_t  dt 
)
static

Definition at line 878 of file ins_ekf2.cpp.

References ekf2_t::accel_dt, ekf2_t::accel_valid, ekf2_t::delta_accel, ekf2, ekf2_t::gyro_valid, ins_ekf2_publish_attitude(), and VECT3_COPY.

Referenced by ins_ekf2_init().

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◆ agl_cb()

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

Definition at line 852 of file ins_ekf2.cpp.

References ekf.

Referenced by ins_ekf2_init().

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◆ baro_cb()

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

Definition at line 831 of file ins_ekf2.cpp.

References ekf, ekf2, pprz_isa_density_of_pressure(), pprz_isa_height_of_pressure_full(), ekf2_t::qnh, and ekf2_t::temp.

Referenced by ins_ekf2_init().

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◆ gps_cb()

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

◆ gyro_int_cb()

static void gyro_int_cb ( uint8_t  sender_id,
uint32_t  stamp,
struct FloatRates delta_gyro,
uint16_t  dt 
)
static

Definition at line 863 of file ins_ekf2.cpp.

References ekf2_t::accel_valid, ekf2_t::delta_gyro, ekf2, ekf2_t::gyro_dt, ekf2_t::gyro_valid, ins_ekf2_publish_attitude(), and RATES_COPY.

Referenced by ins_ekf2_init().

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◆ ins_ekf2_change_param()

void ins_ekf2_change_param ( int32_t  unk)

Definition at line 721 of file ins_ekf2.cpp.

References ekf2, ekf_params, and ekf2_t::mag_fusion_type.

◆ ins_ekf2_init()

void ins_ekf2_init ( void  )

Definition at line 517 of file ins_ekf2.cpp.

References accel_int_cb(), accel_int_ev, ekf2_t::accel_valid, agl_cb(), agl_ev, LlaCoor_i::alt, baro_cb(), baro_ev, DefaultPeriodic, ekf, ekf2, ekf_params, ekf2_t::flow_stamp, ekf2_t::got_imu_data, gps_cb(), gps_ev, gyro_int_cb(), gyro_int_ev, ekf2_t::gyro_valid, LtpDef_i::hmsl, INS_EKF2_ACCEL_ID, INS_EKF2_AGL_ID, INS_EKF2_BARO_ID, INS_EKF2_BARO_NOISE, INS_EKF2_FLOW_INNOV_GATE, INS_EKF2_FLOW_NOISE, INS_EKF2_FLOW_NOISE_QMIN, INS_EKF2_FLOW_POS_X, INS_EKF2_FLOW_POS_Y, INS_EKF2_FLOW_POS_Z, INS_EKF2_FLOW_SENSOR_DELAY, INS_EKF2_FUSION_MODE, INS_EKF2_GPS_CHECK_MASK, INS_EKF2_GPS_ID, INS_EKF2_GPS_P_NOISE, INS_EKF2_GPS_POS_X, INS_EKF2_GPS_POS_Y, INS_EKF2_GPS_POS_Z, INS_EKF2_GPS_V_NOISE, INS_EKF2_GYRO_ID, INS_EKF2_IMU_POS_X, INS_EKF2_IMU_POS_Y, INS_EKF2_IMU_POS_Z, INS_EKF2_MAG_ID, INS_EKF2_MAX_FLOW_RATE, INS_EKF2_MIN_FLOW_QUALITY, INS_EKF2_OF_ID, INS_EKF2_RANGE_MAIN_AGL, INS_EKF2_SONAR_MAX_RANGE, INS_EKF2_SONAR_MIN_RANGE, INS_EKF2_TEMPERATURE_ID, INS_EKF2_VDIST_SENSOR_TYPE, LlaCoor_i::lat, LlaCoor_i::lon, ekf2_t::ltp_def, ltp_def_from_lla_i(), ekf2_t::ltp_stamp, mag_cb(), mag_ev, optical_flow_cb(), optical_flow_ev, ekf2_t::qnh, ekf2_t::quat_reset_counter, register_periodic_telemetry(), sample_ev, send_ahrs_bias(), send_ahrs_quat(), send_external_pose_down(), send_filter_status(), send_ins(), send_ins_ekf2(), send_ins_ekf2_ext(), send_ins_ref(), send_ins_z(), send_wind_info_ret(), stateSetLocalOrigin_i(), ekf2_t::temp, temperature_cb(), temperature_ev, and waypoints_localize_all().

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◆ ins_ekf2_parse_EXTERNAL_POSE()

void ins_ekf2_parse_EXTERNAL_POSE ( uint8_t buf)

Definition at line 735 of file ins_ekf2.cpp.

References ekf, get_sys_time_usec(), INS_EKF2_EVA_NOISE, INS_EKF2_EVP_NOISE, INS_EKF2_EVV_NOISE, and sample_ev.

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◆ ins_ekf2_parse_EXTERNAL_POSE_SMALL()

void ins_ekf2_parse_EXTERNAL_POSE_SMALL ( uint8_t buf)

Definition at line 757 of file ins_ekf2.cpp.

◆ ins_ekf2_publish_attitude()

◆ ins_ekf2_remove_gps()

void ins_ekf2_remove_gps ( int32_t  mode)

Definition at line 726 of file ins_ekf2.cpp.

References ekf2, ekf_params, ekf2_t::fusion_mode, INS_EKF2_FUSION_MODE, and mode.

◆ ins_ekf2_update()

◆ 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 629 of file ins_ekf2.cpp.

References ekf, ekf2, gps, GpsFixValid, LtpDef_i::hmsl, GpsState::hmsl, LlaCoor_i::lat, lla_int_from_gps(), LlaCoor_i::lon, ekf2_t::ltp_def, ltp_def_from_lla_i(), and stateSetLocalOrigin_i().

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◆ mag_cb()

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

Definition at line 893 of file ins_ekf2.cpp.

References ekf, ekf2, ekf2_t::got_imu_data, MAGS_FLOAT_OF_BFP, FloatVect3::x, FloatVect3::y, and FloatVect3::z.

Referenced by ins_ekf2_init().

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◆ optical_flow_cb()

static void optical_flow_cb ( uint8_t  sender_id,
uint32_t  stamp,
int32_t  flow_x,
int32_t  flow_y,
int32_t  flow_der_x,
int32_t  flow_der_y,
float  quality,
float  size_divergence 
)
static

Definition at line 958 of file ins_ekf2.cpp.

References ekf, ekf2, and ekf2_t::flow_stamp.

Referenced by ins_ekf2_init().

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◆ send_ahrs_bias()

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

Definition at line 449 of file ins_ekf2.cpp.

References dev, and ekf.

Referenced by ins_ekf2_init().

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◆ send_ahrs_quat()

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

Definition at line 459 of file ins_ekf2.cpp.

References dev, ekf, foo, Int32Quat::qi, QUAT1_BFP_OF_REAL, Int32Quat::qx, Int32Quat::qy, Int32Quat::qz, and stateGetNedToBodyQuat_i().

Referenced by ins_ekf2_init().

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◆ send_external_pose_down()

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

Definition at line 484 of file ins_ekf2.cpp.

References dev, and sample_ev.

Referenced by ins_ekf2_init().

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◆ send_filter_status()

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

Definition at line 412 of file ins_ekf2.cpp.

References AHRS_COMP_ID_EKF2, dev, and ekf.

Referenced by ins_ekf2_init().

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◆ send_ins()

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

Definition at line 308 of file ins_ekf2.cpp.

References ACCEL_BFP_OF_REAL, dev, ekf, POS_BFP_OF_REAL, SPEED_BFP_OF_REAL, NedCoor_i::x, NedCoor_i::y, and NedCoor_i::z.

Referenced by ins_ekf2_init().

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◆ send_ins_ekf2()

static void send_ins_ekf2 ( struct transport_tx *  trans,
struct link_device *  dev 
)
static

Definition at line 365 of file ins_ekf2.cpp.

References dev, and ekf.

Referenced by ins_ekf2_init().

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◆ send_ins_ekf2_ext()

static void send_ins_ekf2_ext ( struct transport_tx *  trans,
struct link_device *  dev 
)
static

Definition at line 398 of file ins_ekf2.cpp.

References dev, and ekf.

Referenced by ins_ekf2_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 355 of file ins_ekf2.cpp.

References LlaCoor_i::alt, dev, LtpDef_i::ecef, ekf2, LtpDef_i::hmsl, LlaCoor_i::lat, LtpDef_i::lla, LlaCoor_i::lon, ekf2_t::ltp_def, ekf2_t::ltp_stamp, EcefCoor_i::x, EcefCoor_i::y, and EcefCoor_i::z.

Referenced by ins_ekf2_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 335 of file ins_ekf2.cpp.

References ACCEL_BFP_OF_REAL, dev, ekf, POS_BFP_OF_REAL, pos_z, and SPEED_BFP_OF_REAL.

Referenced by ins_ekf2_init().

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◆ send_wind_info_ret()

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

Definition at line 437 of file ins_ekf2.cpp.

References dev, and ekf.

Referenced by ins_ekf2_init().

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◆ temperature_cb()

static void temperature_cb ( uint8_t  sender_id,
float  temp 
)
static

Definition at line 846 of file ins_ekf2.cpp.

References ekf2, and ekf2_t::temp.

Referenced by ins_ekf2_init().

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Variable Documentation

◆ accel_int_ev

abi_event accel_int_ev
static

Definition at line 281 of file ins_ekf2.cpp.

Referenced by ins_ekf2_init().

◆ agl_ev

abi_event agl_ev
static

Definition at line 279 of file ins_ekf2.cpp.

Referenced by ins_ekf2_init().

◆ baro_ev

abi_event baro_ev
static

Definition at line 277 of file ins_ekf2.cpp.

Referenced by ins_ekf2_init().

◆ ekf

◆ ekf2

◆ ekf_params

parameters* ekf_params
static

The EKF parameters.

Definition at line 302 of file ins_ekf2.cpp.

Referenced by ins_ekf2_change_param(), ins_ekf2_init(), and ins_ekf2_remove_gps().

◆ gps_ev

abi_event gps_ev
static

Definition at line 283 of file ins_ekf2.cpp.

Referenced by ins_ekf2_init().

◆ gyro_int_ev

abi_event gyro_int_ev
static

Definition at line 280 of file ins_ekf2.cpp.

Referenced by ins_ekf2_init().

◆ mag_ev

abi_event mag_ev
static

Definition at line 282 of file ins_ekf2.cpp.

Referenced by ins_ekf2_init().

◆ optical_flow_ev

abi_event optical_flow_ev
static

Definition at line 284 of file ins_ekf2.cpp.

Referenced by ins_ekf2_init().

◆ sample_ev

struct extVisionSample sample_ev
static

External vision sample.

Definition at line 302 of file ins_ekf2.cpp.

Referenced by ins_ekf2_init(), ins_ekf2_parse_EXTERNAL_POSE(), and send_external_pose_down().

◆ temperature_ev

abi_event temperature_ev
static

Definition at line 278 of file ins_ekf2.cpp.

Referenced by ins_ekf2_init().