ahrs_vectornav module

Vectornav VN200 over uart used as AHRS.

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_vectornav">
  b'<configure name="VN_PORT" value="uart3" />\n    '
  b'<configure name="VN_BAUD" value="B921600" />\n  '
</module>

Module configuration options

Configure Options

• name: VN_PORT value: uart3
  Description: UART to use
• name: VN_BAUD value: B921600
  Description: UART baudrate

Module functions

Init Functions

These initialization functions are called once on startup.

• ahrs_init()

Event Functions

These event functions are called in each cycle of the module event loop.

• ahrs_vectornav_event()

Files

Header Files

The following headers are automatically included in modules.h

• ahrs.h

Source Files

• peripherals/vn200_serial.c
• modules/ahrs/ahrs.c
• modules/ahrs/ahrs_vectornav.c
• modules/ahrs/ahrs_vectornav_wrapper.c

Raw ahrs_vectornav.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="ahrs_vectornav" dir="ahrs" task="estimation">
  <doc>
    <description>
      Vectornav VN200 over uart used as AHRS.
    </description>
    <configure name="VN_PORT" value="uart3" description="UART to use"/>
    <configure name="VN_BAUD" value="B921600" description="UART baudrate"/>
  </doc>
  <dep>
    <depends>uart</depends>
    <provides>ahrs,imu</provides>
  </dep>
  <header>
    <file name="ahrs.h"/>
  </header>
  <init fun="ahrs_init()"/>
  <event fun="ahrs_vectornav_event()"/>
  <makefile target="ap">
    <configure name="VN_PORT" default="uart3" case="upper|lower"/>
    <configure name="VN_BAUD" default="B921600"/>
    <define name="USE_$(VN_PORT_UPPER)"/>
    <define name="VN_PORT" value="$(VN_PORT_LOWER)"/>
    <define name="$(VN_PORT_UPPER)_BAUD" value="$(VN_BAUD)"/>
 
    <file name="vn200_serial.c" dir="peripherals"/>
    <file name="ahrs.c"/>
    <file name="ahrs_vectornav.c"/>
    <file name="ahrs_vectornav_wrapper.c"/>
 
    <define name="USE_AHRS"/>
 
    <raw>
ifdef SECONDARY_AHRS
ifneq (,$(findstring $(SECONDARY_AHRS), vectornav))
# this is the secondary AHRS
$(TARGET).CFLAGS += -DAHRS_SECONDARY_TYPE_H=\"modules/ahrs/ahrs_vectornav_wrapper.h\"
$(TARGET).CFLAGS += -DSECONDARY_AHRS=ahrs_vectornav
else
# this is the primary AHRS
$(TARGET).CFLAGS += -DAHRS_TYPE_H=\"modules/ahrs/ahrs_vectornav_wrapper.h\"
$(TARGET).CFLAGS += -DPRIMARY_AHRS=ahrs_vectornav
endif
else
# plain old single AHRS usage
$(TARGET).CFLAGS += -DAHRS_TYPE_H=\"modules/ahrs/ahrs_vectornav_wrapper.h\"
endif
    </raw>
    <test>
      <define name="PRIMARY_AHRS" value="ahrs_vectornav"/>
      <define name="AHRS_TYPE_H" value="modules/ahrs/ahrs_vectornav_wrapper.h" type="string"/>
      <define name="VN_PORT" value="uart0"/>
      <define name="USE_UART0"/>
    </test>
  </makefile>
</module>