ins_vectornav.h File Reference

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"

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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_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_monitor (void)
	Monitors vectornav data rate and changes GPS lock if the data rate is too low. 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.

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Data Structure Documentation

struct InsVectornav

Definition at line 64 of file ins_vectornav.h.

Collaboration diagram for InsVectornav:

Data Fields
struct Int32Vect3	accel_i
float	baro_z	z-position calculated from baro in meters (z-down)
struct OrientationReps	body_to_imu	body_to_imu rotation
struct Int32Rates	gyro_i
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
float	qfe
struct VNData	vn_data	Data struct.
struct VNPacket	vn_packet	Packet struct.
uint16_t	vn_rate	data frequency
enum VNStatus	vn_status	VN status.

Macro Definition Documentation

#define INS_VN_BODY_TO_IMU_PHI   0

Definition at line 57 of file ins_vectornav.h.

Referenced by ins_vectornav_init().

#define INS_VN_BODY_TO_IMU_PSI   0

Definition at line 59 of file ins_vectornav.h.

Referenced by ins_vectornav_init().

#define INS_VN_BODY_TO_IMU_THETA   0

Definition at line 58 of file ins_vectornav.h.

Referenced by ins_vectornav_init().

Function Documentation

void ins_vectornav_event

(

void

)

Event handling for Vectornav.

Definition at line 146 of file ins_vectornav.c.

References ins_vectornav_propagate(), ins_vn, VNPacket::msg_available, vn200_event(), vn200_read_message(), InsVectornav::vn_data, and InsVectornav::vn_packet.

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void ins_vectornav_init

(

void

)

Initialize Vectornav struct.

Definition at line 163 of file ins_vectornav.c.

References InsVectornav::accel_i, InsVectornav::body_to_imu, VNPacket::chksm_error, DefaultPeriodic, VNPacket::framing_error, VNPacket::hdr_error, ins_init_origin_i_from_flightplan(), ins_vn, INS_VN_BODY_TO_IMU_PHI, INS_VN_BODY_TO_IMU_PSI, INS_VN_BODY_TO_IMU_THETA, INT32_VECT3_ZERO, InsVectornav::ltp_accel_i, InsVectornav::ltp_def, InsVectornav::ltp_initialized, InsVectornav::ltp_pos_i, InsVectornav::ltp_speed_i, VNPacket::msg_available, VNPacket::msg_idx, VNPacket::noise_error, orientationSetEulers_f(), VNPacket::overrun_error, register_periodic_telemetry(), send_accel(), send_accel_scaled(), send_gyro(), send_gyro_scaled(), send_ins(), send_ins_ref(), send_ins_z(), send_vn_info(), VNPacket::status, InsVectornav::vn_data, InsVectornav::vn_packet, InsVectornav::vn_rate, InsVectornav::vn_status, VNMsgSync, and VNNotTracking.

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void ins_vectornav_monitor

(

void

)

Monitors vectornav data rate and changes GPS lock if the data rate is too low.

Definition at line 112 of file ins_vectornav.c.

References SVinfo::cno, VNPacket::counter, GpsState::fix, gps, GPS_FIX_NONE, ins_vn, VNData::mode, GpsState::pacc, GpsState::svinfos, InsVectornav::vn_data, InsVectornav::vn_packet, and InsVectornav::vn_rate.

void ins_vectornav_propagate

(

void

)

Propagate the received states into the vehicle state machine.

Definition at line 244 of file ins_vectornav.c.

References VNData::accel, InsVectornav::accel_i, ACCELS_BFP_OF_REAL, LlaCoor_f::alt, VNData::attitude, InsVectornav::body_to_imu, GpsState::course, GpsState::ecef_pos, GpsState::fix, float_quat_of_eulers(), float_rmat_comp(), float_rmat_of_quat(), float_rmat_ratemult(), float_rmat_transp_vmult(), gps, VNData::gps_fix, GPS_FIX_3D, GPS_VALID_COURSE_BIT, GPS_VALID_HMSL_BIT, GPS_VALID_POS_ECEF_BIT, GPS_VALID_POS_LLA_BIT, GpsState::gspeed, VNData::gyro, InsVectornav::gyro_i, GpsState::hmsl, ins_vectornav_set_pacc(), ins_vectornav_set_sacc(), ins_vn, GpsState::last_3dfix_ticks, GpsState::last_3dfix_time, GpsState::last_msg_ticks, GpsState::last_msg_time, LlaCoor_f::lat, VNData::lin_accel, LLA_BFP_OF_REAL, InsVectornav::lla_pos, GpsState::lla_pos, LlaCoor_f::lon, InsVectornav::ltp_accel_f, InsVectornav::ltp_accel_i, InsVectornav::ltp_pos_i, InsVectornav::ltp_speed_i, sys_time::nb_sec, sys_time::nb_sec_rem, GpsState::num_sv, VNData::num_sv, orientationGetRMat_f(), VNData::pos_lla, RATES_BFP_OF_REAL, stateGetAccelNed_i(), stateGetPositionEcef_i(), stateGetPositionNed_i(), stateGetSpeedNed_i(), stateSetAccelNed_f(), stateSetBodyRates_f(), stateSetNedToBodyRMat_f(), stateSetPositionLla_i(), stateSetSpeedNed_f(), GpsState::valid_fields, VECT3_ASSIGN, VNData::vel_ned, InsVectornav::vn_data, wgs84_ellipsoid_to_geoid_f(), EcefCoor_i::x, FloatVect3::x, NedCoor_f::x, EcefCoor_i::y, FloatVect3::y, NedCoor_f::y, EcefCoor_i::z, and FloatVect3::z.

Referenced by ins_vectornav_event().

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void ins_vectornav_set_pacc

(

void

)

Find maximum uncertainty (NED) position accuracy in cm.

Definition at line 226 of file ins_vectornav.c.

References gps, ins_vn, GpsState::pacc, VNData::pos_u, and InsVectornav::vn_data.

Referenced by ins_vectornav_propagate().

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void ins_vectornav_set_sacc

(

void

)

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

Definition at line 217 of file ins_vectornav.c.

References gps, ins_vn, GpsState::sacc, VNData::vel_u, and InsVectornav::vn_data.

Referenced by ins_vectornav_propagate().

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Variable Documentation

struct InsVectornav ins_vn

Definition at line 32 of file ins_vectornav.c.

Referenced by ins_vectornav_event(), ins_vectornav_init(), ins_vectornav_monitor(), ins_vectornav_propagate(), ins_vectornav_set_pacc(), ins_vectornav_set_sacc(), send_accel(), send_accel_scaled(), send_gyro(), send_gyro_scaled(), send_ins(), send_ins_ref(), send_ins_z(), and send_vn_info().