Paparazzi UAS  v6.2_unstable
Paparazzi is a free software Unmanned Aircraft System.
ins_ekf2.cpp File Reference
#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 INS_EKF2_FUSION_MODE   (MASK_USE_GPS)
 For SITL and NPS we need special includes. 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_cb (uint8_t sender_id, uint32_t stamp, struct Int32Rates *gyro)
 
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 gps_cb (uint8_t sender_id, uint32_t stamp, struct GpsState *gps_s)
 
static void body_to_imu_cb (uint8_t sender_id, struct FloatQuat *q_b2i_f)
 
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)
 
void ins_ekf2_init (void)
 
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_ev
 
static abi_event accel_ev
 
static abi_event mag_ev
 
static abi_event gps_ev
 
static abi_event body_to_imu_ev
 
static abi_event optical_flow_ev
 
static Ekf ekf
 EKF class itself. More...
 
static parameters * ekf_params
 The EKF parameters. More...
 
struct ekf2_t ekf2
 Local EKF2 status structure. 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 131 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 119 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 106 of file ins_ekf2.cpp.

◆ INS_EKF2_BARO_NOISE

#define INS_EKF2_BARO_NOISE   3.5f

Definition at line 275 of file ins_ekf2.cpp.

◆ INS_EKF2_EVA_NOISE

#define INS_EKF2_EVA_NOISE   0.05f

Definition at line 257 of file ins_ekf2.cpp.

◆ INS_EKF2_EVP_NOISE

#define INS_EKF2_EVP_NOISE   0.02f

Definition at line 245 of file ins_ekf2.cpp.

◆ INS_EKF2_EVV_NOISE

#define INS_EKF2_EVV_NOISE   0.1f

Definition at line 251 of file ins_ekf2.cpp.

◆ INS_EKF2_FLOW_INNOV_GATE

#define INS_EKF2_FLOW_INNOV_GATE   4

Definition at line 239 of file ins_ekf2.cpp.

◆ INS_EKF2_FLOW_NOISE

#define INS_EKF2_FLOW_NOISE   0.03

Definition at line 227 of file ins_ekf2.cpp.

◆ INS_EKF2_FLOW_NOISE_QMIN

#define INS_EKF2_FLOW_NOISE_QMIN   0.05

Definition at line 233 of file ins_ekf2.cpp.

◆ INS_EKF2_FLOW_POS_X

#define INS_EKF2_FLOW_POS_X   0

Definition at line 209 of file ins_ekf2.cpp.

◆ INS_EKF2_FLOW_POS_Y

#define INS_EKF2_FLOW_POS_Y   0

Definition at line 215 of file ins_ekf2.cpp.

◆ INS_EKF2_FLOW_POS_Z

#define INS_EKF2_FLOW_POS_Z   0

Definition at line 221 of file ins_ekf2.cpp.

◆ INS_EKF2_FLOW_SENSOR_DELAY

#define INS_EKF2_FLOW_SENSOR_DELAY   15

Definition at line 191 of file ins_ekf2.cpp.

◆ INS_EKF2_FUSION_MODE

#define INS_EKF2_FUSION_MODE   (MASK_USE_GPS)

For SITL and NPS we need special includes.

Prevent setting INS reference from flight plan Special configuration for Optitrack The EKF2 fusion mode setting

Definition at line 67 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 79 of file ins_ekf2.cpp.

◆ INS_EKF2_GPS_ID

#define INS_EKF2_GPS_ID   GPS_MULTI_ID

Definition at line 143 of file ins_ekf2.cpp.

◆ INS_EKF2_GPS_P_NOISE

#define INS_EKF2_GPS_P_NOISE   0.5f

Definition at line 269 of file ins_ekf2.cpp.

◆ INS_EKF2_GPS_POS_X

#define INS_EKF2_GPS_POS_X   0

Definition at line 173 of file ins_ekf2.cpp.

◆ INS_EKF2_GPS_POS_Y

#define INS_EKF2_GPS_POS_Y   0

Definition at line 179 of file ins_ekf2.cpp.

◆ INS_EKF2_GPS_POS_Z

#define INS_EKF2_GPS_POS_Z   0

Definition at line 185 of file ins_ekf2.cpp.

◆ INS_EKF2_GPS_V_NOISE

#define INS_EKF2_GPS_V_NOISE   0.3f

Definition at line 263 of file ins_ekf2.cpp.

◆ INS_EKF2_GYRO_ID

#define INS_EKF2_GYRO_ID   ABI_BROADCAST

Definition at line 125 of file ins_ekf2.cpp.

◆ INS_EKF2_IMU_POS_X

#define INS_EKF2_IMU_POS_X   0

Definition at line 155 of file ins_ekf2.cpp.

◆ INS_EKF2_IMU_POS_Y

#define INS_EKF2_IMU_POS_Y   0

Definition at line 161 of file ins_ekf2.cpp.

◆ INS_EKF2_IMU_POS_Z

#define INS_EKF2_IMU_POS_Z   0

Definition at line 167 of file ins_ekf2.cpp.

◆ INS_EKF2_MAG_ID

#define INS_EKF2_MAG_ID   ABI_BROADCAST

Definition at line 137 of file ins_ekf2.cpp.

◆ INS_EKF2_MAX_FLOW_RATE

#define INS_EKF2_MAX_FLOW_RATE   200

Definition at line 203 of file ins_ekf2.cpp.

◆ INS_EKF2_MIN_FLOW_QUALITY

#define INS_EKF2_MIN_FLOW_QUALITY   100

Definition at line 197 of file ins_ekf2.cpp.

◆ INS_EKF2_OF_ID

#define INS_EKF2_OF_ID   ABI_BROADCAST

Definition at line 149 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 97 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 91 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 85 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 113 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 73 of file ins_ekf2.cpp.

Function Documentation

◆ accel_cb()

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

Definition at line 828 of file ins_ekf2.cpp.

References ekf2_t::accel, ekf2_t::accel_dt, ekf2_t::accel_stamp, ekf2_t::accel_valid, ACCELS_FLOAT_OF_BFP, ekf2_t::body_to_imu, ekf2, float_rmat_transp_vmult(), ekf2_t::gyro_valid, ins_ekf2_publish_attitude(), and orientationGetRMat_f().

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 791 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 770 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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◆ body_to_imu_cb()

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

Definition at line 914 of file ins_ekf2.cpp.

References ekf2_t::body_to_imu, ekf2, and orientationSetQuat_f().

Referenced by ins_ekf2_init().

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◆ gps_cb()

◆ gyro_cb()

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

Definition at line 802 of file ins_ekf2.cpp.

References ekf2_t::accel_valid, ekf2_t::body_to_imu, ekf2, float_rmat_transp_ratemult(), ekf2_t::gyro, ekf2_t::gyro_dt, ekf2_t::gyro_stamp, ekf2_t::gyro_valid, ins_ekf2_publish_attitude(), orientationGetRMat_f(), and RATES_FLOAT_OF_BFP.

Referenced by ins_ekf2_init().

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◆ ins_ekf2_change_param()

void ins_ekf2_change_param ( int32_t  unk)

Definition at line 654 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 466 of file ins_ekf2.cpp.

References ABI_BROADCAST, accel_cb(), accel_ev, ekf2_t::accel_stamp, ekf2_t::accel_valid, agl_cb(), agl_ev, LlaCoor_i::alt, baro_cb(), baro_ev, body_to_imu_cb(), body_to_imu_ev, DefaultPeriodic, ekf, ekf2, ekf_params, f, ekf2_t::flow_stamp, ekf2_t::got_imu_data, gps_cb(), gps_ev, gyro_cb(), gyro_ev, ekf2_t::gyro_stamp, 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(), send_ahrs_bias(), 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 668 of file ins_ekf2.cpp.

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

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◆ ins_ekf2_parse_EXTERNAL_POSE_SMALL()

void ins_ekf2_parse_EXTERNAL_POSE_SMALL ( uint8_t buf)

Definition at line 691 of file ins_ekf2.cpp.

◆ ins_ekf2_publish_attitude()

◆ ins_ekf2_remove_gps()

void ins_ekf2_remove_gps ( int32_t  mode)

Definition at line 659 of file ins_ekf2.cpp.

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

◆ ins_ekf2_update()

◆ mag_cb()

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

Definition at line 854 of file ins_ekf2.cpp.

References ekf2_t::body_to_imu, ekf, ekf2, float_rmat_transp_vmult(), ekf2_t::got_imu_data, MAGS_FLOAT_OF_BFP, orientationGetRMat_f(), 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 921 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 454 of file ins_ekf2.cpp.

References dev, and ekf.

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 417 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 313 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 370 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 403 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 360 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 340 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 442 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 785 of file ins_ekf2.cpp.

References ekf2, and ekf2_t::temp.

Referenced by ins_ekf2_init().

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Variable Documentation

◆ accel_ev

abi_event accel_ev
static

Definition at line 284 of file ins_ekf2.cpp.

Referenced by ins_ekf2_init().

◆ agl_ev

abi_event agl_ev
static

Definition at line 282 of file ins_ekf2.cpp.

Referenced by ins_ekf2_init().

◆ baro_ev

abi_event baro_ev
static

Definition at line 280 of file ins_ekf2.cpp.

Referenced by ins_ekf2_init().

◆ body_to_imu_ev

abi_event body_to_imu_ev
static

Definition at line 287 of file ins_ekf2.cpp.

Referenced by ins_ekf2_init().

◆ ekf

◆ ekf2

◆ ekf_params

parameters* ekf_params
static

The EKF parameters.

Definition at line 307 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 286 of file ins_ekf2.cpp.

Referenced by ins_ekf2_init().

◆ gyro_ev

abi_event gyro_ev
static

Definition at line 283 of file ins_ekf2.cpp.

Referenced by ins_ekf2_init().

◆ mag_ev

abi_event mag_ev
static

Definition at line 285 of file ins_ekf2.cpp.

Referenced by ins_ekf2_init().

◆ optical_flow_ev

abi_event optical_flow_ev
static

Definition at line 288 of file ins_ekf2.cpp.

Referenced by ins_ekf2_init().

◆ temperature_ev

abi_event temperature_ev
static

Definition at line 281 of file ins_ekf2.cpp.

Referenced by ins_ekf2_init().