ins_extended module

extended INS with vertical filter using sonar.

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="ins_extended">
  b'<define name="INS_SONAR_MIN_RANGE" value="0.001" />\n    '
  b'<define name="INS_SONAR_MAX_RANGE" value="4.0" />\n    '
  b'<define name="INS_SONAR_UPDATE_ON_AGL" value="FALSE" />\n    \n    '
  b'<define name="DEBUG_VFF_EXTENDED" value="0|1|2" />\n    '
  b'<define name="VFF_EXTENDED_INIT_PXX" value="1." />\n    '
  b'<define name="VFF_EXTENDED_ACCEL_NOISE" value="0.5" />\n    '
  b'<define name="VFF_EXTENDED_R_BARO" value="2." />\n    '
  b'<define name="VFF_EXTENDED_NON_FLAT_GROUND" value="FALSE" />\n  '
</module>

Module configuration options

Define Options

• name: INS_SONAR_MIN_RANGE value: 0.001
  Description: min sonar range in meters
• name: INS_SONAR_MAX_RANGE value: 4.0
  Description: max sonar range in meters
• name: INS_SONAR_UPDATE_ON_AGL value: FALSE
  Description: assume flat ground and use sonar for height
• name: DEBUG_VFF_EXTENDED value: 0|1|2
  Description: If set > 0, this will send the vff message. If > 1 then it will also print the P matrix
• name: VFF_EXTENDED_INIT_PXX value: 1.
  Description: Initial value of the diagonal of the P matrix
• name: VFF_EXTENDED_ACCEL_NOISE value: 0.5
  Description: Accelerometer noise setting
• name: VFF_EXTENDED_R_BARO value: 2.
  Description: Barometer noise setting
• name: VFF_EXTENDED_NON_FLAT_GROUND value: FALSE
  Description: VFF_EXTENDED_NON_FLAT_GROUND removes the assumption of a flat ground and tries to estimate the height of the obstacles under the vehicle.

Files

Source Files

• modules/ins/vf_extended_float.c

Raw ins_extended.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="ins_extended" dir="ins" task="estimation">
  <doc>
    <description>
      extended INS with vertical filter using sonar.
    </description>
    <define name="INS_SONAR_MIN_RANGE" value="0.001" description="min sonar range in meters"/>
    <define name="INS_SONAR_MAX_RANGE" value="4.0" description="max sonar range in meters"/>
    <define name="INS_SONAR_UPDATE_ON_AGL" value="FALSE" description="assume flat ground and use sonar for height"/>
    
    <define name="DEBUG_VFF_EXTENDED" value="0|1|2" description="If set > 0, this will send the vff message. If > 1 then it will also print the P matrix"/>
    <define name="VFF_EXTENDED_INIT_PXX" value="1." description="Initial value of the diagonal of the P matrix"/>
    <define name="VFF_EXTENDED_ACCEL_NOISE" value="0.5" description="Accelerometer noise setting"/>
    <define name="VFF_EXTENDED_R_BARO" value="2." description="Barometer noise setting"/>
    <define name="VFF_EXTENDED_NON_FLAT_GROUND" value="FALSE" description="VFF_EXTENDED_NON_FLAT_GROUND removes the assumption of a flat ground and tries to estimate the height of the obstacles under the vehicle."/>
  </doc>
  <settings>
    <dl_settings NAME="Ins Extended">
      <dl_settings NAME="INS">
        <dl_setting MAX="10" MIN="0" STEP="0.1" VAR="vff.accel_noise" shortname="accel_noise" module="modules/ins/vf_extended_float"/>
        <dl_setting MAX="10" MIN="0" STEP="0.1" VAR="vff.r_baro" shortname="r_baro"/>
        <dl_setting MAX="10" MIN="0" STEP="0.1" VAR="vff.r_alt" shortname="r_alt"/>
        <dl_setting MAX="10" MIN="0" STEP="0.1" VAR="vff.r_obs_height" shortname="r_obs_height"/>
      </dl_settings>
    </dl_settings>
  </settings>
  <dep>
    <depends>ins_int_common</depends>
    <provides>ins</provides>
  </dep>
  <makefile target="ap|nps">
    <file name="vf_extended_float.c"/>
    <define name="USE_VFF_EXTENDED"/>
    <test firmware="rotorcraft"/>
  </makefile>
</module>