ins_skeleton.c File Reference

Paparazzi specific wrapper to run simple module based INS. More...

#include "modules/ins/ins_skeleton.h"
#include "subsystems/abi.h"
#include "mcu_periph/sys_time.h"
#include "message_pragmas.h"
#include "state.h"

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Macros
#define	USE_INS_NAV_INIT   TRUE
#define	INS_MODULE_BARO_ID   ABI_BROADCAST
	baro More...
#define	INS_MODULE_IMU_ID   ABI_BROADCAST
	IMU (accel, body_to_imu) More...
#define	INS_MODULE_GPS_ID   GPS_MULTI_ID
	ABI binding for gps data. More...

Functions
void	ins_module_wrapper_init (void)
void WEAK	ins_module_init (void)
void WEAK	ins_module_update_baro (float pressure)
void WEAK	ins_module_update_gps (struct GpsState *gps_s, float dt)
void WEAK	ins_module_propagate (struct Int32Vect3 *accel, float dt)
void WEAK	ins_module_reset_local_origin (void)
void	ins_reset_local_origin (void)
	INS local origin reset. More...
static void	ins_ned_to_state (void)
	copy position and speed to state interface More...
static void	baro_cb (uint8_t sender_id, float pressure)
static void	accel_cb (uint8_t sender_id, uint32_t stamp, struct Int32Vect3 *accel)
static void	gps_cb (uint8_t sender_id, uint32_t stamp, struct GpsState *gps_s)
static void	body_to_imu_cb (uint8_t sender_id, struct FloatQuat *q_b2i_f)

Variables
static abi_event	baro_ev
static abi_event	accel_ev
static abi_event	gps_ev
static abi_event	body_to_imu_ev
struct InsModuleInt	ins_module
	global INS state More...

Detailed Description

Paparazzi specific wrapper to run simple module based INS.

Definition in file ins_skeleton.c.

Macro Definition Documentation

#define INS_MODULE_BARO_ID   ABI_BROADCAST

baro

Definition at line 47 of file ins_skeleton.c.

Referenced by ins_module_wrapper_init().

#define INS_MODULE_GPS_ID   GPS_MULTI_ID

ABI binding for gps data.

Used for GPS ABI messages.

Definition at line 62 of file ins_skeleton.c.

Referenced by ins_module_wrapper_init().

#define INS_MODULE_IMU_ID   ABI_BROADCAST

IMU (accel, body_to_imu)

Definition at line 54 of file ins_skeleton.c.

Referenced by ins_module_wrapper_init().

#define USE_INS_NAV_INIT   TRUE

Definition at line 35 of file ins_skeleton.c.

Function Documentation

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

static

Definition at line 199 of file ins_skeleton.c.

References dt, ins_module_propagate(), and ins_ned_to_state().

Referenced by ins_module_wrapper_init().

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static void baro_cb ( uint8_t  sender_id, float  pressure  )

static

Definition at line 192 of file ins_skeleton.c.

References ins_module_update_baro(), and ins_ned_to_state().

Referenced by ins_module_wrapper_init().

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

static

Definition at line 239 of file ins_skeleton.c.

References InsModuleInt::body_to_imu, ins_module, and orientationSetQuat_f().

Referenced by ins_module_wrapper_init().

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

static

Definition at line 214 of file ins_skeleton.c.

References dt, GpsState::fix, InsModuleInt::gps, GPS_FIX_3D, ins_module, ins_module_update_gps(), ins_ned_to_state(), ins_reset_local_origin(), and InsModuleInt::ltp_initialized.

Referenced by ins_module_wrapper_init().

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void WEAK ins_module_init

(

void

)

Definition at line 79 of file ins_skeleton.c.

Referenced by ins_module_wrapper_init().

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void WEAK ins_module_propagate	(	struct Int32Vect3 *	accel,
		float	dt
	)

Definition at line 115 of file ins_skeleton.c.

References InsModuleInt::body_to_imu, ins_module, int32_rmat_transp_vmult(), InsModuleInt::ltp_accel, orientationGetRMat_i(), stateGetNedToBodyRMat_i(), and VECT3_COPY.

Referenced by accel_cb().

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void WEAK ins_module_reset_local_origin

(

void

)

Definition at line 127 of file ins_skeleton.c.

Referenced by ins_reset_local_origin().

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void WEAK ins_module_update_baro

(

float

pressure

)

Definition at line 83 of file ins_skeleton.c.

Referenced by baro_cb().

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void WEAK ins_module_update_gps	(	struct GpsState *	gps_s,
		float	dt
	)

Definition at line 87 of file ins_skeleton.c.

References GpsState::ecef_pos, GpsState::ecef_vel, GPS_VALID_POS_ECEF_BIT, GPS_VALID_VEL_ECEF_BIT, GPS_VALID_VEL_NED_BIT, ins_module, INT32_POS_OF_CM_DEN, INT32_POS_OF_CM_NUM, INT32_SPEED_OF_CM_S_DEN, INT32_SPEED_OF_CM_S_NUM, INT32_VECT3_SCALE_2, InsModuleInt::ltp_def, InsModuleInt::ltp_pos, InsModuleInt::ltp_speed, ned_of_ecef_point_i(), ned_of_ecef_vect_i(), GpsState::ned_vel, and GpsState::valid_fields.

Referenced by gps_cb().

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void ins_module_wrapper_init

(

void

)

Definition at line 152 of file ins_skeleton.c.

References accel_cb(), accel_ev, baro_cb(), baro_ev, body_to_imu_cb(), body_to_imu_ev, gps_cb(), gps_ev, ins_init_origin_i_from_flightplan(), ins_module, INS_MODULE_BARO_ID, INS_MODULE_GPS_ID, INS_MODULE_IMU_ID, ins_module_init(), INT32_VECT3_ZERO, InsModuleInt::ltp_accel, InsModuleInt::ltp_def, InsModuleInt::ltp_initialized, InsModuleInt::ltp_pos, and InsModuleInt::ltp_speed.

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static void ins_ned_to_state ( void  )

static

copy position and speed to state interface

Definition at line 175 of file ins_skeleton.c.

References ins_module, InsModuleInt::ltp_accel, InsModuleInt::ltp_pos, InsModuleInt::ltp_speed, nps_bypass_ins, sim_overwrite_ins(), stateSetAccelNed_i(), stateSetPositionNed_i(), and stateSetSpeedNed_i().

Referenced by accel_cb(), baro_cb(), and gps_cb().

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void ins_reset_local_origin

(

void

)

INS local origin reset.

Reset horizontal and vertical reference to the current position. Does nothing if not implemented by specific INS algorithm.

Definition at line 136 of file ins_skeleton.c.

Referenced by gps_cb(), and nav_reset_reference().

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Variable Documentation

abi_event accel_ev

static

Definition at line 67 of file ins_skeleton.c.

Referenced by ins_module_wrapper_init().

abi_event baro_ev

static

Definition at line 66 of file ins_skeleton.c.

Referenced by ins_module_wrapper_init().

abi_event body_to_imu_ev

static

Definition at line 69 of file ins_skeleton.c.

Referenced by ins_module_wrapper_init().

abi_event gps_ev

static

Definition at line 68 of file ins_skeleton.c.

Referenced by ins_module_wrapper_init().

struct InsModuleInt ins_module

global INS state

Definition at line 71 of file ins_skeleton.c.

Referenced by body_to_imu_cb(), gps_cb(), ins_module_propagate(), ins_module_update_gps(), ins_module_wrapper_init(), ins_ned_to_state(), and ins_reset_local_origin().