ins_alt_float module

INS with Kalman Filter on altitude.

For fixedwings.

Example for airframe file

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

<module name="ins_alt_float">
  <define name="USE_INS_NAV_INIT" value="TRUE|FALSE" />
  <define name="INS_ALT_BARO_ID" value="BARO_BOARD_SENDER_ID" />
  <define name="INS_ALT_GPS_ID" value="GPS_MULTI_ID" />
  <define name="INS_ALT_IMU_ID" value="ABI_BROADCAST" />
  <define name="DEBUG_ALT_KALMAN" />
</module>

Module configuration options

Define Options

• name: USE_INS_NAV_INIT value: TRUE|FALSE
  Description: Initialize the origin of the local coordinate system from flight plan. (Default: TRUE)
• name: INS_ALT_BARO_ID value: BARO_BOARD_SENDER_ID
  Description: The ABI sender id of the baro to use
• name: INS_ALT_GPS_ID value: GPS_MULTI_ID
  Description: The ABI sender id of the GPS to use
• name: INS_ALT_IMU_ID value: ABI_BROADCAST
  Description: The ABI sender id of the IMU to use
• name: DEBUG_ALT_KALMAN value: None
  Description: if defined, send the debug ALT_KALMAN telemetry message

Module functions

Init Functions

These initialization functions are called once on startup.

• ins_alt_float_init()

Files

Header Files

The following headers are automatically included in modules.h

• ins_alt_float.h

Source Files

• subsystems/ins.c
• subsystems/ins/ins_alt_float.c

Raw ins_alt_float.xml file:

<!DOCTYPE module SYSTEM "module.dtd">

<module name="ins_alt_float" dir="ins">
  <doc>
    <description>
      INS with Kalman Filter on altitude.
      For fixedwings.
    </description>
    <define name="USE_INS_NAV_INIT" value="TRUE|FALSE" description="Initialize the origin of the local coordinate system from flight plan. (Default: TRUE)"/>
    <define name="INS_ALT_BARO_ID" value="BARO_BOARD_SENDER_ID" description="The ABI sender id of the baro to use"/>
    <define name="INS_ALT_GPS_ID" value="GPS_MULTI_ID" description="The ABI sender id of the GPS to use"/>
    <define name="INS_ALT_IMU_ID" value="ABI_BROADCAST" description="The ABI sender id of the IMU to use"/>
    <define name="DEBUG_ALT_KALMAN" description="if defined, send the debug ALT_KALMAN telemetry message"/>
  </doc>
  <header>
    <file name="ins_alt_float.h" dir="subsystems/ins"/>
  </header>
  <init fun="ins_alt_float_init()"/>
  <makefile target="ap|nps|sim" firmware="fixedwing">
    <define name="INS_TYPE_H" value="subsystems/ins/ins_alt_float.h" type="string"/>
    <file name="ins.c" dir="subsystems"/>
    <file name="ins_alt_float.c" dir="subsystems/ins"/>
  </makefile>
</module>