ins_flow module

simple INS and AHRS using flow

No detailed description...

Example for airframe file

Add to your firmware section:

<module name="ins_flow"/>

Module functions

Init Functions

These initialization functions are called once on startup.

• ins_flow_init()

Periodic Functions

These functions are called periodically at the specified frequency from the module periodic loop.

• ins_flow_update()
  • Running at maximum module frequency.
  • Autorun: TRUE
    Periodic function automatically starts after init.

Files

Header Files

The following headers are automatically included in modules.h

• ins_flow.h

Source Files

• modules/ins/ins.c
• modules/ins/ins_flow.c
• modules/ahrs/ahrs_int_cmpl_quat.c
• modules/ahrs/ahrs_aligner.c

Raw ins_flow.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="ins_flow" dir="ins">
  <doc>
    <description>
      simple INS and AHRS using flow
    </description>
  </doc>
 
 
  <settings>
    <dl_settings NAME="INS">
      <dl_settings name="flow">
        <dl_setting var="reset_filter" min="0" step="1" max="1" values="NO|YES" module="modules/ins/ins_flow"/> 
        <dl_setting var="run_filter" min="0" step="1" max="1" values="NO|YES" module="modules/ins/ins_flow"/> 
        <dl_setting var="use_filter" min="0" step="1" max="3" values="NO|ANGLE|VELOCITY|HEIGHT" module="modules/ins/ins_flow"/> 
        <dl_setting var="thrust_factor" min="0.01" step="0.01" max="1.50" module="modules/ins/ins_flow"/> 
      </dl_settings>
    </dl_settings>
  </settings>
  <dep>
    <depends>@imu,@gps</depends>
    <provides>ahrs,ins</provides>
  </dep>
  <header>
    <file name="ins_flow.h" dir="modules/ins"/>
  </header>
  <init fun="ins_flow_init()"/>
  <periodic fun="ins_flow_update()" autorun="TRUE"/>
  <makefile target="ap|nps">
    <!-- FLOW files -->
    <!-- <define name="USE_AHRS"/> -->
    <define name="USE_AHRS_ALIGNER"/>
    <define name="INS_TYPE_H" value="modules/ins/ins_flow.h" type="string"/>
    <file name="ins.c" dir="modules/ins/"/>
    <file name="ins_flow.c" dir="modules/ins"/>
    <file name="ahrs_int_cmpl_quat.c" dir="modules/ahrs"/>  
    <!-- <file name="ahrs.c" dir="subsystems"/> -->
    <file name="ahrs_aligner.c" dir="modules/ahrs"/>
    <!-- <file name="pprz_algebra_float.c" dir="math"/> -->
    <raw>
      $(TARGET).CFLAGS += -DAHRS_TYPE_H=\"modules/ins/ins_flow.h\"
      $(TARGET).CFLAGS += -DPRIMARY_AHRS=ahrs_icq
    </raw>
    <test firmware="rotorcraft">
      <define name="MOTOR_MIXING_NB_MOTOR" value="4"/>
      <define name="USE_MAGNETOMETER" value="true"/>
    </test>
  </makefile>
 
</module>