ahrs_float_invariant module

AHRS using invariant filter.

No detailed description...

Example for airframe file

Add to your firmware section: This example contains all possible configuration options, not all of them are mandatory!

<module name="ahrs_float_invariant">
  b'<define name="SEND_INVARIANT_FILTER" />\n    '
  b'<define name="AHRS_FINV_IMU_ID" value="ABI_BROADCAST" />\n    '
  b'<define name="AHRS_FINV_MAG_ID" value="ABI_BROADCAST" />\n  '
  b'<configure name="AHRS_FINV_TYPE" value="AHRS_PRIMARY|AHRS_SECONDARY" />\n    '
  b'<configure name="USE_MAGNETOMETER" value="TRUE" />\n    '
  b'<configure name="AHRS_ALIGNER_LED" value="1" />\n    '
</module>

Module configuration options

Configure Options

• name: AHRS_FINV_TYPE value: AHRS_PRIMARY|AHRS_SECONDARY
  Description: set if the AHRS is the primary source (default) or one of the secondary sources
• name: USE_MAGNETOMETER value: TRUE
  Description: set to FALSE to disable magnetometer
• name: AHRS_ALIGNER_LED value: 1
  Description: LED number to indicate AHRS alignment, none to disable (default is board dependent)

Define Options

• name: SEND_INVARIANT_FILTER value: None
  Description: send INV_FILTER message for debugging
• name: AHRS_FINV_IMU_ID value: ABI_BROADCAST
  Description: ABI sender id of IMU to use
• name: AHRS_FINV_MAG_ID value: ABI_BROADCAST
  Description: ABI sender id of magnetometer to use

Module functions

Init Functions

These initialization functions are called once on startup.

• ahrs_finv_wrapper_init()

Files

Header Files

The following headers are automatically included in modules.h

• ahrs_float_invariant_wrapper.h

Source Files

• modules/ahrs/ahrs_float_invariant.c
• modules/ahrs/ahrs_float_invariant_wrapper.c

Raw ahrs_float_invariant.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="ahrs_float_invariant" dir="ahrs" task="estimation">
  <doc>
    <description>
      AHRS using invariant filter.
    </description>
    <configure name="AHRS_FINV_TYPE" value="AHRS_PRIMARY|AHRS_SECONDARY" description="set if the AHRS is the primary source (default) or one of the secondary sources"/>
    <configure name="USE_MAGNETOMETER" value="TRUE" description="set to FALSE to disable magnetometer"/>
    <configure name="AHRS_ALIGNER_LED" value="1" description="LED number to indicate AHRS alignment, none to disable (default is board dependent)"/>
    <define name="SEND_INVARIANT_FILTER" description="send INV_FILTER message for debugging"/>
    <define name="AHRS_FINV_IMU_ID" value="ABI_BROADCAST" description="ABI sender id of IMU to use"/>
    <define name="AHRS_FINV_MAG_ID" value="ABI_BROADCAST" description="ABI sender id of magnetometer to use"/>
  </doc>
 
  <settings>
    <dl_settings>
      <dl_settings NAME="AHRS INV">
        <dl_setting var="ahrs_finv_enable" min="0" step="1" max="1" module="modules/ahrs/ahrs_float_invariant_wrapper" values="DISABLE|ENABLE" handler="enable"/>
        <dl_setting MAX="1" MIN="1" STEP="1" VAR="ahrs_float_inv.reset" shortname="reset"/>
        <dl_setting MAX="1." MIN="0." STEP="0.01" VAR="ahrs_float_inv.gains.lx" shortname="lx" module="modules/ahrs/ahrs_float_invariant" param="AHRS_INV_LX"/>
        <dl_setting MAX="1." MIN="0." STEP="0.01" VAR="ahrs_float_inv.gains.ly" shortname="ly" param="AHRS_INV_LY"/>
        <dl_setting MAX="1." MIN="0." STEP="0.01" VAR="ahrs_float_inv.gains.lz" shortname="lz" param="AHRS_INV_LZ"/>
        <dl_setting MAX=".1" MIN="0." STEP="0.001" VAR="ahrs_float_inv.gains.mx" shortname="mx" param="AHRS_INV_MX"/>
        <dl_setting MAX=".1" MIN="0." STEP="0.001" VAR="ahrs_float_inv.gains.my" shortname="my" param="AHRS_INV_MY"/>
        <dl_setting MAX=".1" MIN="0." STEP="0.001" VAR="ahrs_float_inv.gains.mz" shortname="mz" param="AHRS_INV_MZ"/>
        <dl_setting MAX="1." MIN="0." STEP="0.01" VAR="ahrs_float_inv.gains.n" shortname="n" param="AHRS_INV_N"/>
        <dl_setting MAX="1." MIN="0." STEP="0.01" VAR="ahrs_float_inv.gains.o" shortname="o" param="AHRS_INV_O"/>
      </dl_settings>
    </dl_settings>
  </settings>
 
  <dep>
    <depends>ahrs_common,@imu,@mag</depends>
    <provides>ahrs</provides>
  </dep>
  <header>
    <file name="ahrs_float_invariant_wrapper.h"/>
  </header>
  <init fun="ahrs_finv_wrapper_init()"/>
  <makefile target="!sim|fbw">
    <configure name="USE_MAGNETOMETER" default="1"/>
    <define name="USE_MAGNETOMETER" cond="ifeq (,$(findstring $(USE_MAGNETOMETER),0 FALSE))"/>
    <file name="ahrs_float_invariant.c"/>
    <file name="ahrs_float_invariant_wrapper.c"/>
    <test>
      <define name="AHRS_FINV_TYPE" value="AHRS_PRIMARY"/>
    </test>
  </makefile>
</module>