ins_extended module

extended INS with vertical filter using sonar.

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="ins_extended">
  <define name="USE_INS_NAV_INIT" value="TRUE|FALSE" />
  <define name="INS_INT_AGL_ID" value="ABI_BROADCAST" />
  <define name="INS_INT_BARO_ID" value="BARO_BOARD_SENDER_ID" />
  <define name="INS_INT_GPS_ID" value="GPS_MULTI_ID" />
  <define name="INS_INT_IMU_ID" value="ABI_BROADCAST" />
  <define name="INS_INT_VEL_ID" value="ABI_BROADCAST" />
  <define name="INS_SONAR_MIN_RANGE" value="0.001" />
  <define name="INS_SONAR_MAX_RANGE" value="4.0" />
  <define name="INS_SONAR_UPDATE_ON_AGL" value="FALSE" />
  <define name="DEBUG_VFF_EXTENDED" value="0|1|2" />
  <define name="VFF_EXTENDED_INIT_PXX" value="1." />
  <define name="VFF_EXTENDED_ACCEL_NOISE" value="0.5" />
  <define name="VFF_EXTENDED_R_BARO" value="2." />
  <define name="VFF_EXTENDED_NON_FLAT_GROUND" value="FALSE" />
</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_INT_AGL_ID value: ABI_BROADCAST
  Description: The ABI sender id of the sonar to use
• name: INS_INT_BARO_ID value: BARO_BOARD_SENDER_ID
  Description: The ABI sender id of the baro to use
• name: INS_INT_GPS_ID value: GPS_MULTI_ID
  Description: The ABI sender id of the GPS to use
• name: INS_INT_IMU_ID value: ABI_BROADCAST
  Description: The ABI sender id of the IMU to use
• name: INS_INT_VEL_ID value: ABI_BROADCAST
  Description: The ABI sender id of the VELOCITY_ESTIMATE (e.g. from opticflow
• name: INS_SONAR_MIN_RANGE value: 0.001
  Description: min sonar range in meters
• name: INS_SONAR_MAX_RANGE value: 4.0
  Description: max sonar range in meters
• name: INS_SONAR_UPDATE_ON_AGL value: FALSE
  Description: assume flat ground and use sonar for height
• name: DEBUG_VFF_EXTENDED value: 0|1|2
  Description: If set > 0, this will send the vff message. If > 1 then it will also print the P matrix
• name: VFF_EXTENDED_INIT_PXX value: 1.
  Description: Initial value of the diagonal of the P matrix
• name: VFF_EXTENDED_ACCEL_NOISE value: 0.5
  Description: Accelerometer noise setting
• name: VFF_EXTENDED_R_BARO value: 2.
  Description: Barometer noise setting
• name: VFF_EXTENDED_NON_FLAT_GROUND value: FALSE
  Description: VFF_EXTENDED_NON_FLAT_GROUND removes the assumption of a flat ground and tries to estimate the height of the obstacles under the vehicle.

Module functions

Init Functions

These initialization functions are called once on startup.

• ins_int_init()

Files

Header Files

The following headers are automatically included in modules.h

• ins_int.h

Source Files

• subsystems/ins.c
• subsystems/ins/ins_int.c
• subsystems/ins/vf_extended_float.c

Raw ins_extended.xml file:

<!DOCTYPE module SYSTEM "module.dtd">

<module name="ins" dir="ins">
  <doc>
    <description>
      extended INS with vertical filter using sonar.
    </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_INT_AGL_ID" value="ABI_BROADCAST" description="The ABI sender id of the sonar to use"/>
    <define name="INS_INT_BARO_ID" value="BARO_BOARD_SENDER_ID" description="The ABI sender id of the baro to use"/>
    <define name="INS_INT_GPS_ID" value="GPS_MULTI_ID" description="The ABI sender id of the GPS to use"/>
    <define name="INS_INT_IMU_ID" value="ABI_BROADCAST" description="The ABI sender id of the IMU to use"/>
    <define name="INS_INT_VEL_ID" value="ABI_BROADCAST" description="The ABI sender id of the VELOCITY_ESTIMATE (e.g. from opticflow"/>
    <define name="INS_SONAR_MIN_RANGE" value="0.001" description="min sonar range in meters"/>
    <define name="INS_SONAR_MAX_RANGE" value="4.0" description="max sonar range in meters"/>
    <define name="INS_SONAR_UPDATE_ON_AGL" value="FALSE" description="assume flat ground and use sonar for height"/>
    
    <define name="DEBUG_VFF_EXTENDED" value="0|1|2" description="If set > 0, this will send the vff message. If > 1 then it will also print the P matrix"/>
    <define name="VFF_EXTENDED_INIT_PXX" value="1." description="Initial value of the diagonal of the P matrix"/>
    <define name="VFF_EXTENDED_ACCEL_NOISE" value="0.5" description="Accelerometer noise setting"/>
    <define name="VFF_EXTENDED_R_BARO" value="2." description="Barometer noise setting"/>
    <define name="VFF_EXTENDED_NON_FLAT_GROUND" value="FALSE" description="VFF_EXTENDED_NON_FLAT_GROUND removes the assumption of a flat ground and tries to estimate the height of the obstacles under the vehicle."/>
  </doc>

  <settings>
    <dl_settings NAME="Ins Extended">
      <dl_settings NAME="INS">
        <dl_setting MAX="10" MIN="0" STEP="0.1" VAR="vff.accel_noise" shortname="accel_noise" module="subsystems/ins/vf_extended_float"/>
        <dl_setting MAX="10" MIN="0" STEP="0.1" VAR="vff.r_baro" shortname="r_baro"/>
        <dl_setting MAX="10" MIN="0" STEP="0.1" VAR="vff.r_alt" shortname="r_alt"/>
        <dl_setting MAX="10" MIN="0" STEP="0.1" VAR="vff.r_obs_height" shortname="r_obs_height"/>
      </dl_settings>
    </dl_settings>
  </settings>

  <header>
    <file name="ins_int.h" dir="subsystems/ins"/>
  </header>
  <init fun="ins_int_init()"/>
  <makefile target="ap|nps">
    <define name="INS_TYPE_H" value="subsystems/ins/ins_int.h" type="string"/>
    <file name="ins.c" dir="subsystems"/>
    <file name="ins_int.c" dir="subsystems/ins"/>
    <file name="vf_extended_float.c" dir="subsystems/ins"/>
    <define name="USE_VFF_EXTENDED"/>
  </makefile>
</module>