Vectornav VN-200 INS subsystem. More...

#include "subsystems/gps.h"
#include "subsystems/ins.h"
#include "peripherals/vn200_serial.h"
#include "math/pprz_algebra.h"
#include "math/pprz_geodetic_int.h"
#include "math/pprz_algebra_float.h"
#include "math/pprz_isa.h"
#include "generated/airframe.h"
#include "mcu_periph/sys_time.h"
#include "subsystems/abi.h"

Include dependency graph for ins_vectornav.h:

This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Data Structures
struct	InsVectornav

Macros
#define	INS_VN_BODY_TO_IMU_PHI 0

#define	INS_VN_BODY_TO_IMU_THETA 0

#define	INS_VN_BODY_TO_IMU_PSI 0

Functions
void	ins_vectornav_init (void)
	Initialize Vectornav struct. More...

void	ins_vectornav_event (void)
	Event handling for Vectornav. More...

void	ins_vectornav_read_message (void)
	Read received data. More...

void	ins_vectornav_check_status (void)
	Check INS status. More...

void	ins_vectornav_set_sacc (void)
	Set speed (velocity) uncertainty (NED) speed accuracy in cm/s. More...

void	ins_vectornav_set_pacc (void)
	Find maximum uncertainty (NED) position accuracy in cm. More...

void	ins_vectornav_propagate (void)
	Propagate the received states into the vehicle state machine. More...

void	ins_vectornav_yaw_pitch_roll_to_attitude (struct FloatEulers *vn_attitude)
	Convert yaw, pitch, and roll data from VectorNav to correct attitude yaw(0), pitch(1), roll(2) -> phi, theta, psi [deg] -> rad. More...

Variables
struct InsVectornav	ins_vn

Detailed Description

Vectornav VN-200 INS subsystem.

Author: Michal Podhradsky micha.nosp@m.l.po.nosp@m.dhrad.nosp@m.sky@.nosp@m.aggie.nosp@m.mail.nosp@m..usu..nosp@m.edu

Definition in file ins_vectornav.h.

Data Structure Documentation

struct InsVectornav

Definition at line 64 of file ins_vectornav.h.

Collaboration diagram for InsVectornav:

Data Fields
struct FloatVect3	accel	Acceleration in the imu frame, m/s.
struct Int32Vect3	accel_i
struct FloatEulers	attitude	Attitude, float, [degrees], yaw, pitch, roll.
float	baro_z	z-position calculated from baro in meters (z-down)
struct OrientationReps	body_to_imu	body_to_imu rotation
uint8_t	err	see page 122 of VN-200 datasheet
struct FloatRates	gyro	Rates in the imu frame m/s.
struct Int32Rates	gyro_i
uint16_t	ins_status	see page 122 of VN-200 datasheet
struct FloatVect3	lin_accel	Linear acceleration in imu frame [m/s^2].
struct LlaCoor_f	lla_pos
struct NedCoor_f	ltp_accel_f
struct NedCoor_i	ltp_accel_i
struct LtpDef_i	ltp_def
bool	ltp_initialized
struct NedCoor_i	ltp_pos_i
struct NedCoor_i	ltp_speed_i
uint8_t	mode	0-not tracking, 1 - poor performance, 2- OK
double	pos_lla[3]
float	pos_u[3]	The current GPS position uncertainty in the North East Down (NED) coordinate frame, given in meters.
float	qfe
float	timestamp	System time [s].
struct FloatVect3	vel_body	The estimated velocity in the imu frame, given in m/s.
struct NedCoor_f	vel_ned	The estimated velocity in the North East Down (NED) frame, given in m/s.
float	vel_u	NED velocity uncertainty [m/s].
uint16_t	vn_chksm	aux variable for checksum
float	vn_freq	data frequency
uint32_t	vn_ltime	aux time stamp
struct VNPacket	vn_packet	Packet struct.
enum VNStatus	vn_status	VN status.
uint32_t	vn_time	VN time stamp.
struct FloatEulers	ypr_u	Attitude uncertainty, 1sigma, float, [degrees], yaw, pitch, roll.