ins_skeleton module

INS module skeleton.

This module is meant to be used with an additional module which implements any of the following

• ins_module_init()
• ins_module_propagate(struct Int32Vect3 *accel, float dt)
• ins_module_update_gps(struct GpsState *gps_s, float dt)
• ins_module_update_baro(float pressure)
• ins_module_reset_local_origin(void)

In each of those functions the updated estimate has to be written to the ins_module struct, which is then used to update the state interface.

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_skeleton">
  <define name="INS_MODULE_IMU_ID" value="ABI_BROADCAST" />
  <define name="INS_MODULE_BARO_ID" value="ABI_BROADCAST" />
  <define name="INS_MODULE_GPS_ID" value="GPS_MULTI_ID" />
</module>

Module configuration options

Define Options

• name: INS_MODULE_IMU_ID value: ABI_BROADCAST
  Description: ABI sender id of IMU messages to subscribe to
• name: INS_MODULE_BARO_ID value: ABI_BROADCAST
  Description: ABI sender id of BARO_ABS messages to subscribe to
• name: INS_MODULE_GPS_ID value: GPS_MULTI_ID
  Description: ABI sender id of GPS messages to subscribe to

Module functions

Init Functions

These initialization functions are called once on startup.

• ins_module_wrapper_init()

Files

Header Files

The following headers are automatically included in modules.h

• ins_skeleton.h

Source Files

• subsystems/ins.c
• modules/ins/ins_skeleton.c

Raw ins_skeleton.xml file:

<!DOCTYPE module SYSTEM "module.dtd">

<module name="ins_skeleton" dir="ins">
  <doc>
    <description>
      INS module skeleton.
      This module is meant to be used with an additional module which implements any of the following
        - ins_module_init()
        - ins_module_propagate(struct Int32Vect3 *accel, float dt)
        - ins_module_update_gps(struct GpsState *gps_s, float dt)
        - ins_module_update_baro(float pressure)
        - ins_module_reset_local_origin(void)

      In each of those functions the updated estimate has to be written to the ins_module struct,
      which is then used to update the state interface.
    </description>
    <define name="INS_MODULE_IMU_ID" value="ABI_BROADCAST" description="ABI sender id of IMU messages to subscribe to"/>
    <define name="INS_MODULE_BARO_ID" value="ABI_BROADCAST" description="ABI sender id of BARO_ABS messages to subscribe to"/>
    <define name="INS_MODULE_GPS_ID" value="GPS_MULTI_ID" description="ABI sender id of GPS messages to subscribe to"/>
  </doc>
  <init fun="ins_module_wrapper_init()"/>
  <header>
    <file name="ins_skeleton.h"/>
  </header>
  <makefile target="ap|nps" firmware="rotorcraft">
    <define name="INS_TYPE_H" value="modules/ins/ins_skeleton.h" type="string"/>
    <file name="ins.c" dir="subsystems"/>
    <file name="ins_skeleton.c"/>
  </makefile>
</module>