ins_xsens.c File Reference

Xsens as a full INS solution. More...

#include "ins_xsens.h"
#include "xsens_common.h"
#include "subsystems/ins.h"
#include "generated/airframe.h"
#include "mcu_periph/sys_time.h"
#include "subsystems/abi.h"
#include "state.h"

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Macros
#define	INS_XSENS_GPS_ID   GPS_MULTI_ID
	ABI binding for gps data. More...

Functions
static void	handle_ins_msg (void)
static void	update_state_interface (void)
static void	gps_cb (uint8_t sender_id, uint32_t stamp, struct GpsState *gps_s)
void	ins_xsens_init (void)
void	ins_xsens_event (void)

Variables
static abi_event	gps_ev
float	ins_pitch_neutral
float	ins_roll_neutral

Detailed Description

Xsens as a full INS solution.

Definition in file ins_xsens.c.

Macro Definition Documentation

#define INS_XSENS_GPS_ID   GPS_MULTI_ID

ABI binding for gps data.

Used for GPS ABI messages.

Definition at line 50 of file ins_xsens.c.

Referenced by ins_xsens_init().

Function Documentation

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

static

Definition at line 88 of file ins_xsens.c.

References UtmCoor_f::alt, GpsState::hmsl, nav_utm_zone0, GpsState::ned_vel, stateSetPositionUtm_f(), stateSetSpeedNed_f(), utm_float_from_gps(), NedCoor_i::x, NedCoor_i::y, and NedCoor_i::z.

Referenced by ins_xsens_init().

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static void handle_ins_msg ( void  )

static

Definition at line 155 of file ins_xsens.c.

References FLOAT_VECT2_NORM, float_vect3_norm(), GPS_FIX_3D, GPS_VALID_COURSE_BIT, Xsens::new_attitude, new_ins_attitude, update_state_interface(), Xsens::vel, FloatVect3::x, xsens, and FloatVect3::y.

Referenced by ins_xsens_event().

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void ins_xsens_event

(

void

)

Definition at line 78 of file ins_xsens.c.

References handle_ins_msg(), Xsens::msg_received, parse_xsens_msg(), xsens, and xsens_event().

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void ins_xsens_init

(

void

)

Definition at line 64 of file ins_xsens.c.

References gps_cb(), INS_PITCH_NEUTRAL_DEFAULT, INS_ROLL_NEUTRAL_DEFAULT, INS_XSENS_GPS_ID, nav_utm_east0, nav_utm_north0, nav_utm_zone0, stateSetLocalUtmOrigin_f(), stateSetPositionUtm_f(), and xsens_init().

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static void update_state_interface ( void  )

static

Definition at line 128 of file ins_xsens.c.

References Xsens::euler, Xsens::gyro, ins_pitch_neutral, ins_roll_neutral, FloatRates::p, FloatEulers::phi, FloatEulers::psi, FloatRates::q, FloatRates::r, stateSetBodyRates_f(), stateSetNedToBodyEulers_f(), FloatEulers::theta, and xsens.

Referenced by handle_ins_msg().

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Variable Documentation

abi_event gps_ev

static

Definition at line 53 of file ins_xsens.c.

float ins_pitch_neutral

Definition at line 55 of file ins_xsens.c.

Referenced by update_state_interface().

float ins_roll_neutral

Definition at line 56 of file ins_xsens.c.

Referenced by update_state_interface().