ins_ext_pose.h File Reference

Integrated Navigation System interface. More...

#include "std.h"
#include "math/pprz_algebra_float.h"
#include "generated/airframe.h"
#include "state.h"
#include <stdio.h>

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Macros
#define	EKF_NUM_STATES   15
#define	EKF_NUM_INPUTS   6
#define	EKF_NUM_OUTPUTS   6

Functions
void	ins_ext_pose_init (void)
	Module. More...
void	ins_ext_pose_run (void)
void	ins_ext_pose_msg_update (uint8_t *buf)
	Import External Pose Message. More...
void	ins_ext_pos_log_header (FILE *file)
	Logging. More...
void	ins_ext_pos_log_data (FILE *file)

Variables
float	ekf_X [EKF_NUM_STATES]

Detailed Description

Integrated Navigation System interface.

Definition in file ins_ext_pose.h.

Macro Definition Documentation

EKF_NUM_INPUTS

#define EKF_NUM_INPUTS   6

Definition at line 36 of file ins_ext_pose.h.

EKF_NUM_OUTPUTS

#define EKF_NUM_OUTPUTS   6

Definition at line 37 of file ins_ext_pose.h.

EKF_NUM_STATES

#define EKF_NUM_STATES   15

Definition at line 35 of file ins_ext_pose.h.

Function Documentation

ins_ext_pos_log_data()

void ins_ext_pos_log_data

(

FILE *

file

)

Definition at line 1300 of file ins_ext_pose.c.

Referenced by logger_file_write_row().

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ins_ext_pos_log_header()

void ins_ext_pos_log_header

(

FILE *

file

)

Logging.

Definition at line 1292 of file ins_ext_pose.c.

Referenced by logger_file_write_header().

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ins_ext_pose_init()

void ins_ext_pose_init

(

void

)

Module.

Definition at line 265 of file ins_ext_pose.c.

References accel_cb(), accel_ev, DefaultPeriodic, ekf_init(), gyro_cb(), gyro_ev, InsExtPose::has_new_acc, InsExtPose::has_new_ext_pose, InsExtPose::has_new_gyro, ins_ext_pos, INS_EXT_POSE_IMU_ID, ins_ext_pose_init_from_flightplan(), register_periodic_telemetry(), send_ahrs_bias(), send_external_pose_down(), send_ins(), send_ins_ref(), and send_ins_z().

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ins_ext_pose_msg_update()

void ins_ext_pose_msg_update

(

uint8_t *

buf

)

Import External Pose Message.

Definition at line 197 of file ins_ext_pose.c.

References DEBUG_PRINT, InsExtPose::ev_att, InsExtPose::ev_pos, InsExtPose::ev_quat, InsExtPose::ev_time, InsExtPose::ev_vel, float_eulers_of_quat(), float_quat_comp(), get_sys_time_usec(), InsExtPose::has_new_ext_pose, ins_ext_pos, FloatEulers::phi, FloatEulers::psi, FloatQuat::qi, FloatQuat::qx, FloatQuat::qy, FloatQuat::qz, FloatEulers::theta, FloatVect3::x, FloatVect3::y, and FloatVect3::z.

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ins_ext_pose_run()

void ins_ext_pose_run

(

void

)

Definition at line 294 of file ins_ext_pose.c.

References ekf_run().

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Variable Documentation

ekf_X

float ekf_X[EKF_NUM_STATES]

extern

Definition at line 323 of file ins_ext_pose.c.

Referenced by ekf_init(), ekf_measurement_step(), ekf_prediction_step(), ekf_run(), ekf_step(), and send_ahrs_bias().