ahrs_int_cmpl_quat_wrapper.c File Reference

Paparazzi specific wrapper to run floating point complementary filter. More...

#include "subsystems/ahrs/ahrs_int_cmpl_quat_wrapper.h"
#include "subsystems/ahrs.h"
#include "subsystems/abi.h"
#include "state.h"
#include "subsystems/datalink/telemetry.h"
#include "mcu_periph/sys_time.h"

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Macros
#define	AHRS_ICQ_OUTPUT_ENABLED   TRUE
#define	AHRS_ICQ_IMU_ID   ABI_BROADCAST
	ABI binding for IMU data. More...
#define	AHRS_ICQ_MAG_ID   AHRS_ICQ_IMU_ID
	ABI binding for magnetometer data. More...
#define	AHRS_ICQ_GPS_ID   GPS_MULTI_ID
	ABI binding for gps data. More...

Functions
static void	set_body_state_from_quat (void)
	Rotate angles and rates from imu to body frame and set state. More...
static void	send_quat (struct transport_tx *trans, struct link_device *dev)
static void	send_euler (struct transport_tx *trans, struct link_device *dev)
static void	send_bias (struct transport_tx *trans, struct link_device *dev)
static void	send_geo_mag (struct transport_tx *trans, struct link_device *dev)
static void	send_filter_status (struct transport_tx *trans, struct link_device *dev)
static void	gyro_cb (uint8_t sender_id, uint32_t stamp, struct Int32Rates *gyro)
static void	accel_cb (uint8_t sender_id, uint32_t stamp, struct Int32Vect3 *accel)
static void	mag_cb (uint8_t sender_id, uint32_t stamp, struct Int32Vect3 *mag)
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	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)
static bool	ahrs_icq_enable_output (bool enable)
void	ahrs_icq_register (void)

Variables
static bool	ahrs_icq_output_enabled
	if TRUE with push the estimation results to the state interface More...
static uint32_t	ahrs_icq_last_stamp
static uint8_t	ahrs_icq_id = AHRS_COMP_ID_ICQ
static abi_event	gyro_ev
static abi_event	accel_ev
static abi_event	mag_ev
static abi_event	aligner_ev
static abi_event	body_to_imu_ev
static abi_event	geo_mag_ev
static abi_event	gps_ev

Detailed Description

Paparazzi specific wrapper to run floating point complementary filter.

Definition in file ahrs_int_cmpl_quat_wrapper.c.

Macro Definition Documentation

#define AHRS_ICQ_GPS_ID   GPS_MULTI_ID

ABI binding for gps data.

Used for GPS ABI messages.

Definition at line 128 of file ahrs_int_cmpl_quat_wrapper.c.

Referenced by ahrs_icq_register().

#define AHRS_ICQ_IMU_ID   ABI_BROADCAST

ABI binding for IMU data.

Used for gyro, accel ABI messages.

Definition at line 114 of file ahrs_int_cmpl_quat_wrapper.c.

Referenced by ahrs_icq_register().

#define AHRS_ICQ_MAG_ID   AHRS_ICQ_IMU_ID

ABI binding for magnetometer data.

Used for IMU_MAG_INT32 ABI messages.

Definition at line 121 of file ahrs_int_cmpl_quat_wrapper.c.

Referenced by ahrs_icq_register().

#define AHRS_ICQ_OUTPUT_ENABLED   TRUE

Definition at line 33 of file ahrs_int_cmpl_quat_wrapper.c.

Referenced by ahrs_icq_register().

Function Documentation

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

static

Definition at line 166 of file ahrs_int_cmpl_quat_wrapper.c.

References ahrs_icq, ahrs_icq_update_accel(), dt, AhrsIntCmplQuat::is_aligned, PRINT_CONFIG_MSG(), and set_body_state_from_quat().

Referenced by ahrs_icq_register().

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static bool ahrs_icq_enable_output ( bool  enable )

static

Definition at line 245 of file ahrs_int_cmpl_quat_wrapper.c.

References ahrs_icq_output_enabled.

Referenced by ahrs_icq_register().

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void ahrs_icq_register

(

void

)

Definition at line 271 of file ahrs_int_cmpl_quat_wrapper.c.

References ABI_BROADCAST, accel_cb(), accel_ev, ahrs_icq_enable_output(), AHRS_ICQ_GPS_ID, AHRS_ICQ_IMU_ID, ahrs_icq_init(), AHRS_ICQ_MAG_ID, AHRS_ICQ_OUTPUT_ENABLED, ahrs_register_impl(), aligner_cb(), aligner_ev, body_to_imu_cb(), body_to_imu_ev, DefaultPeriodic, geo_mag_cb(), geo_mag_ev, gps_cb(), gps_ev, gyro_cb(), gyro_ev, mag_cb(), mag_ev, register_periodic_telemetry(), send_bias(), send_euler(), send_filter_status(), send_geo_mag(), and send_quat().

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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 214 of file ahrs_int_cmpl_quat_wrapper.c.

References ahrs_icq, ahrs_icq_align(), AhrsIntCmplQuat::is_aligned, and set_body_state_from_quat().

Referenced by ahrs_icq_register().

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static void body_to_imu_cb ( uint8_t  sender_id, struct FloatQuat *  q_b2i_f  )

static

Definition at line 226 of file ahrs_int_cmpl_quat_wrapper.c.

References ahrs_icq_set_body_to_imu_quat().

Referenced by ahrs_icq_register().

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

static

Definition at line 232 of file ahrs_int_cmpl_quat_wrapper.c.

References ahrs_icq, MAG_BFP_OF_REAL, AhrsIntCmplQuat::mag_h, VECT3_ASSIGN, FloatVect3::x, FloatVect3::y, and FloatVect3::z.

Referenced by ahrs_icq_register().

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

static

Definition at line 238 of file ahrs_int_cmpl_quat_wrapper.c.

References ahrs_icq_update_gps().

Referenced by ahrs_icq_register().

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static void gyro_cb ( uint8_t  sender_id, uint32_t  stamp, struct Int32Rates *  gyro  )

static

Definition at line 140 of file ahrs_int_cmpl_quat_wrapper.c.

References ahrs_icq, ahrs_icq_propagate(), AHRS_ICQ_RUNNING, AHRS_PROPAGATE_FREQUENCY, dt, AhrsIntCmplQuat::is_aligned, PRINT_CONFIG_MSG(), set_body_state_from_quat(), and AhrsIntCmplQuat::status.

Referenced by ahrs_icq_register().

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

static

Definition at line 190 of file ahrs_int_cmpl_quat_wrapper.c.

References ahrs_icq, ahrs_icq_update_mag(), dt, AhrsIntCmplQuat::is_aligned, PRINT_CONFIG_MSG(), and set_body_state_from_quat().

Referenced by ahrs_icq_register().

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

static

Definition at line 80 of file ahrs_int_cmpl_quat_wrapper.c.

References ahrs_icq, ahrs_icq_id, AhrsIntCmplQuat::gyro_bias, Int32Rates::p, Int32Rates::q, and Int32Rates::r.

Referenced by ahrs_icq_register().

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

static

Definition at line 65 of file ahrs_int_cmpl_quat_wrapper.c.

References ahrs_icq, ahrs_icq_id, int32_eulers_of_quat(), AhrsIntCmplQuat::ltp_to_imu_quat, Int32Eulers::phi, Int32Eulers::psi, stateGetNedToBodyEulers_i(), and Int32Eulers::theta.

Referenced by ahrs_icq_register().

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

static

Definition at line 97 of file ahrs_int_cmpl_quat_wrapper.c.

References ahrs_icq, ahrs_icq_id, ahrs_icq_last_stamp, get_sys_time_usec(), AhrsIntCmplQuat::is_aligned, and val.

Referenced by ahrs_icq_register().

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

static

Definition at line 87 of file ahrs_int_cmpl_quat_wrapper.c.

References ahrs_icq, ahrs_icq_id, MAG_FLOAT_OF_BFP, AhrsIntCmplQuat::mag_h, FloatVect3::x, Int32Vect3::x, FloatVect3::y, Int32Vect3::y, FloatVect3::z, and Int32Vect3::z.

Referenced by ahrs_icq_register().

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

static

Definition at line 49 of file ahrs_int_cmpl_quat_wrapper.c.

References ahrs_icq, ahrs_icq_id, AhrsIntCmplQuat::ltp_to_imu_quat, Int32Quat::qi, Int32Quat::qx, Int32Quat::qy, Int32Quat::qz, stateGetNedToBodyQuat_i(), and AhrsIntCmplQuat::weight.

Referenced by ahrs_icq_register().

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static void set_body_state_from_quat ( void  )

static

Rotate angles and rates from imu to body frame and set state.

Definition at line 252 of file ahrs_int_cmpl_quat_wrapper.c.

References ahrs_icq, AhrsIntCmplQuat::body_to_imu, AhrsIntCmplQuat::imu_rate, int32_quat_comp_inv(), int32_rmat_transp_ratemult(), AhrsIntCmplQuat::ltp_to_imu_quat, orientationGetQuat_i(), orientationGetRMat_i(), stateSetBodyRates_i(), and stateSetNedToBodyQuat_i().

Referenced by accel_cb(), aligner_cb(), gyro_cb(), and mag_cb().

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Variable Documentation

abi_event accel_ev

static

Definition at line 132 of file ahrs_int_cmpl_quat_wrapper.c.

Referenced by ahrs_icq_register().

uint8_t ahrs_icq_id = AHRS_COMP_ID_ICQ

static

Definition at line 40 of file ahrs_int_cmpl_quat_wrapper.c.

Referenced by send_bias(), send_euler(), send_filter_status(), send_geo_mag(), and send_quat().

uint32_t ahrs_icq_last_stamp

static

Definition at line 39 of file ahrs_int_cmpl_quat_wrapper.c.

Referenced by send_filter_status().

bool ahrs_icq_output_enabled

static

if TRUE with push the estimation results to the state interface

Definition at line 38 of file ahrs_int_cmpl_quat_wrapper.c.

Referenced by ahrs_icq_enable_output().

abi_event aligner_ev

static

Definition at line 134 of file ahrs_int_cmpl_quat_wrapper.c.

Referenced by ahrs_icq_register().

abi_event body_to_imu_ev

static

Definition at line 135 of file ahrs_int_cmpl_quat_wrapper.c.

Referenced by ahrs_icq_register().

abi_event geo_mag_ev

static

Definition at line 136 of file ahrs_int_cmpl_quat_wrapper.c.

Referenced by ahrs_icq_register().

abi_event gps_ev

static

Definition at line 137 of file ahrs_int_cmpl_quat_wrapper.c.

Referenced by ahrs_icq_register().

abi_event gyro_ev

static

Definition at line 131 of file ahrs_int_cmpl_quat_wrapper.c.

Referenced by ahrs_icq_register().

abi_event mag_ev

static

Definition at line 133 of file ahrs_int_cmpl_quat_wrapper.c.

Referenced by ahrs_icq_register().