ahrs_float_invariant module

AHRS using invariant filter.

No detailed description...

Example for airframe file

Add to your firmware section: This example contains all possible configuration options, not all of them are mandatory!

<module name="ahrs_float_invariant">
  <define name="SEND_INVARIANT_FILTER" />
  <define name="AHRS_FINV_IMU_ID" value="ABI_BROADCAST" />
  <define name="AHRS_FINV_MAG_ID" value="ABI_BROADCAST" />
  <configure name="USE_MAGNETOMETER" value="TRUE" />
  <configure name="AHRS_ALIGNER_LED" value="1" />
</module>

Module configuration options

Configure Options

• name: USE_MAGNETOMETER value: TRUE
  Description: set to FALSE to disable magnetometer
• name: AHRS_ALIGNER_LED value: 1
  Description: LED number to indicate AHRS alignment, none to disable (default is board dependent)

Define Options

• name: SEND_INVARIANT_FILTER value: None
  Description: send INV_FILTER message for debugging
• name: AHRS_FINV_IMU_ID value: ABI_BROADCAST
  Description: ABI sender id of IMU to use
• name: AHRS_FINV_MAG_ID value: ABI_BROADCAST
  Description: ABI sender id of magnetometer to use

Files

Header Files

The following headers are automatically included in modules.h

• ahrs.h

Source Files

• subsystems/ahrs.c
• subsystems/ahrs/ahrs_aligner.c
• subsystems/ahrs/ahrs_float_invariant.c
• subsystems/ahrs/ahrs_float_invariant_wrapper.c

Raw ahrs_float_invariant.xml file:

<!DOCTYPE module SYSTEM "module.dtd">

<module name="ahrs_float_dcm" dir="ahrs">
  <doc>
    <description>
      AHRS using invariant filter.
    </description>
    <configure name="USE_MAGNETOMETER" value="TRUE" description="set to FALSE to disable magnetometer"/>
    <configure name="AHRS_ALIGNER_LED" value="1" description="LED number to indicate AHRS alignment, none to disable (default is board dependent)"/>
    <define name="SEND_INVARIANT_FILTER" description="send INV_FILTER message for debugging"/>
    <define name="AHRS_FINV_IMU_ID" value="ABI_BROADCAST" description="ABI sender id of IMU to use"/>
    <define name="AHRS_FINV_MAG_ID" value="ABI_BROADCAST" description="ABI sender id of magnetometer to use"/>
  </doc>

  <settings>
    <dl_settings>
      <dl_settings NAME="invariant">
        <dl_setting MAX="1" MIN="1" STEP="1" VAR="ahrs_float_inv.reset" shortname="reset"/>
        <dl_setting MAX="1." MIN="0." STEP="0.01" VAR="ahrs_float_inv.gains.lx" shortname="lx" module="subsystems/ahrs/ahrs_float_invariant" param="AHRS_INV_LX"/>
        <dl_setting MAX="1." MIN="0." STEP="0.01" VAR="ahrs_float_inv.gains.ly" shortname="ly" param="AHRS_INV_LY"/>
        <dl_setting MAX="1." MIN="0." STEP="0.01" VAR="ahrs_float_inv.gains.lz" shortname="lz" param="AHRS_INV_LZ"/>
        <dl_setting MAX=".1" MIN="0." STEP="0.001" VAR="ahrs_float_inv.gains.mx" shortname="mx" param="AHRS_INV_MX"/>
        <dl_setting MAX=".1" MIN="0." STEP="0.001" VAR="ahrs_float_inv.gains.my" shortname="my" param="AHRS_INV_MY"/>
        <dl_setting MAX=".1" MIN="0." STEP="0.001" VAR="ahrs_float_inv.gains.mz" shortname="mz" param="AHRS_INV_MZ"/>
        <dl_setting MAX="1." MIN="0." STEP="0.01" VAR="ahrs_float_inv.gains.n" shortname="n" param="AHRS_INV_N"/>
        <dl_setting MAX="1." MIN="0." STEP="0.01" VAR="ahrs_float_inv.gains.o" shortname="o" param="AHRS_INV_O"/>
      </dl_settings>
    </dl_settings>
  </settings>

  <header>
    <file name="ahrs.h" dir="subsystems"/>
  </header>

  <makefile target="!sim|fbw">
    <configure name="USE_MAGNETOMETER" default="1"/>
    <configure name="AHRS_ALIGNER_LED" default="none"/>

    <define name="USE_MAGNETOMETER" cond="ifeq (,$(findstring $(USE_MAGNETOMETER),0 FALSE))"/>
    <define name="AHRS_ALINGER_LED" value="$(AHRS_ALIGNER_LED)" cond="ifneq ($(AHRS_ALIGNER_LED),none)"/>
    <define name="USE_AHRS"/>
    <define name="USE_AHRS_ALIGNER"/>

    <file name="ahrs.c" dir="subsystems"/>
    <file name="ahrs_aligner.c" dir="subsystems/ahrs"/>
    <file name="ahrs_float_invariant.c" dir="subsystems/ahrs"/>
    <file name="ahrs_float_invariant_wrapper.c" dir="subsystems/ahrs"/>
    <raw>
ifdef SECONDARY_AHRS
ifneq (,$(findstring $(SECONDARY_AHRS), invariant float_invariant))
# this is the secondary AHRS
$(TARGET).CFLAGS += -DAHRS_SECONDARY_TYPE_H=\"subsystems/ahrs/ahrs_float_invariant_wrapper.h\"
$(TARGET).CFLAGS += -DSECONDARY_AHRS=ahrs_float_invariant
else
# this is the primary AHRS
$(TARGET).CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_invariant_wrapper.h\"
$(TARGET).CFLAGS += -DPRIMARY_AHRS=ahrs_float_invariant
endif
else
# plain old single AHRS usage
$(TARGET).CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_invariant_wrapper.h\"
endif
    </raw>
  </makefile>
</module>