Paparazzi UAS  v6.2_unstable
Paparazzi is a free software Unmanned Aircraft System.
ins_float_invariant_wrapper.c File Reference
#include "modules/ins/ins_float_invariant_wrapper.h"
#include "modules/core/abi.h"
#include "mcu_periph/sys_time.h"
#include "message_pragmas.h"
#include "modules/ahrs/ahrs_aligner.h"
#include "modules/datalink/telemetry.h"
#include "state.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...
 
#define INS_FINV_GPS_ID   GPS_MULTI_ID
 ABI binding for gps data. More...
 

Functions

static void send_ins_ref (struct transport_tx *trans, struct link_device *dev)
 
static void send_filter_status (struct transport_tx *trans, struct link_device *dev)
 
static void baro_cb (uint8_t sender_id, uint32_t stamp, 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 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 mag_cb (uint8_t sender_id, uint32_t stamp, struct Int32Vect3 *mag)
 
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_wrapper_init (void)
 

Variables

static struct FloatVect3 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 gyro_ev
 
static abi_event accel_ev
 
static abi_event aligner_ev
 
static abi_event body_to_imu_ev
 
static abi_event mag_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

◆ INS_FINV_BARO_ID

#define INS_FINV_BARO_ID   ABI_BROADCAST

baro

Definition at line 83 of file ins_float_invariant_wrapper.c.

◆ INS_FINV_FILTER_ID

#define INS_FINV_FILTER_ID   2

Definition at line 37 of file ins_float_invariant_wrapper.c.

◆ INS_FINV_GPS_ID

#define INS_FINV_GPS_ID   GPS_MULTI_ID

ABI binding for gps data.

Used for GPS ABI messages.

Definition at line 108 of file ins_float_invariant_wrapper.c.

◆ INS_FINV_IMU_ID

#define INS_FINV_IMU_ID   ABI_BROADCAST

IMU (gyro, accel)

Definition at line 90 of file ins_float_invariant_wrapper.c.

◆ INS_FINV_MAG_ID

#define INS_FINV_MAG_ID   ABI_BROADCAST

magnetometer

Definition at line 97 of file ins_float_invariant_wrapper.c.

Function Documentation

◆ accel_cb()

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

Definition at line 165 of file ins_float_invariant_wrapper.c.

References ACCELS_FLOAT_OF_BFP, and ins_finv_accel.

Referenced by ins_float_invariant_wrapper_init().

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◆ aligner_cb()

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 172 of file ins_float_invariant_wrapper.c.

References ACCELS_FLOAT_OF_BFP, ins_float_inv, ins_float_invariant_align(), InsFloatInv::is_aligned, MAGS_FLOAT_OF_BFP, and RATES_FLOAT_OF_BFP.

Referenced by ins_float_invariant_wrapper_init().

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◆ baro_cb()

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

Definition at line 123 of file ins_float_invariant_wrapper.c.

References ins_float_invariant_update_baro().

Referenced by ins_float_invariant_wrapper_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 189 of file ins_float_invariant_wrapper.c.

References ins_float_inv_set_body_to_imu_quat().

Referenced by ins_float_invariant_wrapper_init().

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◆ geo_mag_cb()

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

Definition at line 207 of file ins_float_invariant_wrapper.c.

References h(), ins_float_inv, and InsFloatInv::mag_h.

Referenced by ins_float_invariant_wrapper_init().

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◆ gps_cb()

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

Definition at line 213 of file ins_float_invariant_wrapper.c.

References ins_float_invariant_update_gps().

Referenced by ins_float_invariant_wrapper_init().

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◆ gyro_cb()

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 133 of file ins_float_invariant_wrapper.c.

References ahrs_aligner_restart(), ins_finv_accel, ins_finv_last_stamp, ins_float_inv, ins_float_invariant_propagate(), PRINT_CONFIG_MSG(), RATES_FLOAT_OF_BFP, and InsFloatInv::reset.

Referenced by ins_float_invariant_wrapper_init().

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◆ ins_float_invariant_wrapper_init()

◆ mag_cb()

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

Definition at line 196 of file ins_float_invariant_wrapper.c.

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

Referenced by ins_float_invariant_wrapper_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 61 of file ins_float_invariant_wrapper.c.

References dev, get_sys_time_usec(), INS_FINV_FILTER_ID, ins_finv_last_stamp, ins_float_inv, InsFloatInv::is_aligned, and val.

Referenced by ins_float_invariant_wrapper_init().

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◆ send_ins_ref()

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

Variable Documentation

◆ accel_ev

abi_event accel_ev
static

Definition at line 114 of file ins_float_invariant_wrapper.c.

Referenced by ins_float_invariant_wrapper_init().

◆ aligner_ev

abi_event aligner_ev
static

Definition at line 115 of file ins_float_invariant_wrapper.c.

Referenced by ins_float_invariant_wrapper_init().

◆ baro_ev

abi_event baro_ev
static

Definition at line 112 of file ins_float_invariant_wrapper.c.

Referenced by ins_float_invariant_wrapper_init().

◆ body_to_imu_ev

abi_event body_to_imu_ev
static

Definition at line 116 of file ins_float_invariant_wrapper.c.

Referenced by ins_float_invariant_wrapper_init().

◆ geo_mag_ev

abi_event geo_mag_ev
static

Definition at line 119 of file ins_float_invariant_wrapper.c.

Referenced by ins_float_invariant_wrapper_init().

◆ gps_ev

abi_event gps_ev
static

Definition at line 121 of file ins_float_invariant_wrapper.c.

Referenced by ins_float_invariant_wrapper_init().

◆ gyro_ev

abi_event gyro_ev
static

Definition at line 113 of file ins_float_invariant_wrapper.c.

Referenced by ins_float_invariant_wrapper_init().

◆ ins_finv_accel

struct FloatVect3 ins_finv_accel
static

last accel measurement

Definition at line 41 of file ins_float_invariant_wrapper.c.

Referenced by accel_cb(), and gyro_cb().

◆ ins_finv_last_stamp

uint32_t ins_finv_last_stamp = 0
static

last gyro msg timestamp

Definition at line 44 of file ins_float_invariant_wrapper.c.

Referenced by gyro_cb(), and send_filter_status().

◆ mag_ev

abi_event mag_ev
static

Definition at line 118 of file ins_float_invariant_wrapper.c.

Referenced by ins_float_invariant_wrapper_init().