ins_int.c File Reference

INS for rotorcrafts combining vertical and horizontal filters. More...

#include "subsystems/ins/ins_int.h"
#include "subsystems/abi.h"
#include "subsystems/imu.h"
#include "subsystems/gps.h"
#include "generated/airframe.h"
#include "subsystems/ins/vf_float.h"
#include "math/pprz_geodetic_int.h"
#include "math/pprz_isa.h"
#include "math/pprz_stat.h"
#include "subsystems/datalink/telemetry.h"

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Macros
#define	VFF_R_AGL   0.2
#define	INS_VFF_R_GPS   2.0
#define	INS_VFF_VZ_R_GPS   2.0
#define	INS_MAX_PROPAGATION_STEPS   200
	maximum number of propagation steps without any updates in between More...
#define	USE_INS_NAV_INIT   TRUE
#define	INS_BARO_MAX_INIT_VAR   1.f
	default barometer to use in INS More...
#define	INS_INT_BARO_ID   ABI_BROADCAST
#define	INS_INT_IMU_ID   ABI_BROADCAST
	ABI binding for IMU data. More...
#define	INS_INT_GPS_ID   GPS_MULTI_ID
#define	INS_INT_VEL_ID   ABI_BROADCAST
	ABI binding for VELOCITY_ESTIMATE. More...
#define	INS_INT_POS_ID   ABI_BROADCAST
#define	INS_INT_AGL_ID   ABI_BROADCAST
	ABI binding for AGL. More...
#define	press_hist_len   10

Functions
static void	baro_cb (uint8_t sender_id, uint32_t stamp, float pressure)
static void	accel_cb (uint8_t sender_id, uint32_t stamp, struct Int32Vect3 *accel)
static void	gps_cb (uint8_t sender_id, uint32_t stamp, struct GpsState *gps_s)
static void	vel_est_cb (uint8_t sender_id, uint32_t stamp, float x, float y, float z, float noise_x, float noise_y, float noise_z)
static void	pos_est_cb (uint8_t sender_id, uint32_t stamp, float x, float y, float z, float noise_x, float noise_y, float noise_z)
static void	agl_cb (uint8_t sender_id, uint32_t stamp, float distance)
	agl_cb This callback handles all estimates of the height of the vehicle above the ground under it This is only used with the extended version of the vertical float filter More...
static void	send_ins (struct transport_tx *trans, struct link_device *dev)
static void	send_ins_z (struct transport_tx *trans, struct link_device *dev)
static void	send_ins_ref (struct transport_tx *trans, struct link_device *dev)
static void	ins_ned_to_state (void)
	copy position and speed to state interface More...
static void	ins_update_from_vff (void)
	update ins state from vertical filter More...
void	ins_int_init (void)
void	ins_reset_local_origin (void)
	INS local origin reset. More...
void	ins_reset_altitude_ref (void)
	INS altitude reference reset. More...
void	ins_int_propagate (struct Int32Vect3 *accel, float dt)
void	ins_int_update_gps (struct GpsState *gps_s)

Variables
abi_event	baro_ev
static abi_event	accel_ev
static abi_event	gps_ev
static abi_event	vel_est_ev
static abi_event	pos_est_ev
static abi_event	agl_ev
	The agl ABI event. More...
struct InsInt	ins_int
	global INS state More...

Detailed Description

INS for rotorcrafts combining vertical and horizontal filters.

Definition in file ins_int.c.

Macro Definition Documentation

#define INS_BARO_MAX_INIT_VAR   1.f

default barometer to use in INS

Definition at line 110 of file ins_int.c.

Referenced by baro_cb().

#define INS_INT_AGL_ID   ABI_BROADCAST

ABI binding for AGL.

Usually this is comes from sonar or gps.

Definition at line 161 of file ins_int.c.

Referenced by ins_int_init().

#define INS_INT_BARO_ID   ABI_BROADCAST

Definition at line 115 of file ins_int.c.

Referenced by ins_int_init().

#define INS_INT_GPS_ID   GPS_MULTI_ID

Definition at line 132 of file ins_int.c.

Referenced by ins_int_init().

#define INS_INT_IMU_ID   ABI_BROADCAST

ABI binding for IMU data.

Used accel ABI messages.

Definition at line 126 of file ins_int.c.

Referenced by ins_int_init().

#define INS_INT_POS_ID   ABI_BROADCAST

Definition at line 149 of file ins_int.c.

Referenced by ins_int_init().

#define INS_INT_VEL_ID   ABI_BROADCAST

ABI binding for VELOCITY_ESTIMATE.

Usually this is coming from opticflow.

Definition at line 141 of file ins_int.c.

Referenced by ins_int_init().

#define INS_MAX_PROPAGATION_STEPS   200

maximum number of propagation steps without any updates in between

Definition at line 101 of file ins_int.c.

Referenced by ins_int_init(), and ins_int_propagate().

#define INS_VFF_R_GPS   2.0

Definition at line 91 of file ins_int.c.

Referenced by ins_int_update_gps().

#define INS_VFF_VZ_R_GPS   2.0

Definition at line 95 of file ins_int.c.

Referenced by ins_int_update_gps().

#define press_hist_len   10

Referenced by baro_cb().

#define USE_INS_NAV_INIT   TRUE

Definition at line 105 of file ins_int.c.

#define VFF_R_AGL   0.2

Definition at line 59 of file ins_int.c.

Function Documentation

static void accel_cb ( uint8_t  sender_id, uint32_t  stamp, struct Int32Vect3 *  accel  )

static

Definition at line 549 of file ins_int.c.

References ins_int_propagate(), and PRINT_CONFIG_MSG().

Referenced by ins_int_init().

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static void agl_cb ( uint8_t  sender_id, uint32_t  stamp, float  distance  )

static

agl_cb This callback handles all estimates of the height of the vehicle above the ground under it This is only used with the extended version of the vertical float filter

Definition at line 510 of file ins_int.c.

Referenced by ins_int_init().

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static void baro_cb ( uint8_t  sender_id, uint32_t  stamp, float  pressure  )

static

Definition at line 337 of file ins_int.c.

References InsInt::baro_initialized, InsInt::baro_z, idx, INS_BARO_MAX_INIT_VAR, ins_int, ins_update_from_vff(), InsInt::ltp_initialized, pprz_isa_height_of_pressure(), press_hist_len, InsInt::propagation_cnt, InsInt::qfe, stateGetPositionEnu_f(), variance_f(), InsInt::vf_reset, vff_realign(), vff_update(), vff_update_baro(), EnuCoor_f::x, and EnuCoor_f::y.

Referenced by ins_int_init().

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static void gps_cb ( uint8_t  sender_id, uint32_t  stamp, struct GpsState *  gps_s  )

static

Definition at line 563 of file ins_int.c.

References ins_int_update_gps().

Referenced by ins_int_init().

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void ins_int_init

(

void

)

Definition at line 203 of file ins_int.c.

References accel_cb(), agl_cb(), baro_cb(), InsInt::baro_initialized, DefaultPeriodic, gps_cb(), InsInt::hf_realign, hff_init(), ins_init_origin_i_from_flightplan(), ins_int, INS_INT_AGL_ID, INS_INT_BARO_ID, INS_INT_GPS_ID, INS_INT_IMU_ID, INS_INT_POS_ID, INS_INT_VEL_ID, INS_MAX_PROPAGATION_STEPS, INT32_VECT3_ZERO, InsInt::ltp_accel, InsInt::ltp_def, InsInt::ltp_initialized, InsInt::ltp_pos, InsInt::ltp_speed, pos_est_cb(), InsInt::propagation_cnt, register_periodic_telemetry(), send_ins(), send_ins_ref(), send_ins_z(), vel_est_cb(), InsInt::vf_reset, and vff_init_zero().

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void ins_int_propagate	(	struct Int32Vect3 *	accel,
		float	dt
	)

Definition at line 292 of file ins_int.c.

References ACCEL_BFP_OF_REAL, ACCEL_FLOAT_OF_BFP, Imu::body_to_imu, hff_propagate(), imu, ins_int, INS_MAX_PROPAGATION_STEPS, ins_ned_to_state(), ins_update_from_vff(), int32_rmat_transp_vmult(), InsInt::ltp_accel, orientationGetRMat_i(), InsInt::propagation_cnt, stateGetNedToBodyRMat_i(), stateSetAccelBody_i(), vff_propagate(), NedCoor_i::x, Int32Vect3::x, NedCoor_i::y, Int32Vect3::y, NedCoor_i::z, and Int32Vect3::z.

Referenced by accel_cb().

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void ins_int_update_gps

(

struct GpsState *

gps_s

)

Todo:

maybe use gps_s->ned_vel directly??

Definition at line 396 of file ins_int.c.

References GpsState::ecef_pos, GpsState::ecef_vel, GpsState::fix, GPS_FIX_3D, InsInt::hf_realign, hff_realign(), hff_update_gps(), ins_int, ins_ned_to_state(), ins_reset_local_origin(), INS_VFF_R_GPS, INS_VFF_VZ_R_GPS, INT32_POS_OF_CM_DEN, INT32_POS_OF_CM_NUM, int32_quat_vmult(), INT32_SPEED_OF_CM_S_DEN, INT32_SPEED_OF_CM_S_NUM, INT32_VECT2_SCALE_2, InsInt::ltp_def, InsInt::ltp_initialized, InsInt::ltp_pos, InsInt::ltp_speed, ned_of_ecef_point_i(), ned_of_ecef_vect_i(), InsInt::propagation_cnt, QUAT_INVERT, stateGetNedToBodyQuat_i(), VECT2_ASSIGN, VECT2_SDIV, VECT3_SUB, vff_update_vz_conf(), vff_update_z_conf(), NedCoor_i::x, Int32Vect3::x, NedCoor_i::y, and NedCoor_i::z.

Referenced by gps_cb().

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static void ins_ned_to_state ( void  )

static

copy position and speed to state interface

Definition at line 514 of file ins_int.c.

References ins_int, InsInt::ltp_accel, InsInt::ltp_pos, InsInt::ltp_speed, nps_bypass_ins, sim_overwrite_ins(), stateSetAccelNed_i(), stateSetPositionNed_i(), and stateSetSpeedNed_i().

Referenced by ins_int_propagate(), ins_int_update_gps(), pos_est_cb(), and vel_est_cb().

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void ins_reset_altitude_ref

(

void

)

INS altitude reference reset.

Reset only vertical reference to the current altitude. Does nothing if not implemented by specific INS algorithm.

Definition at line 275 of file ins_int.c.

References LlaCoor_i::alt, gps, GpsFixValid, GpsState::hmsl, LtpDef_i::hmsl, ins_int, LlaCoor_i::lat, LtpDef_i::lla, GpsState::lla_pos, LlaCoor_i::lon, InsInt::ltp_def, ltp_def_from_lla_i(), State::ned_origin_i, state, stateSetLocalOrigin_i(), and InsInt::vf_reset.

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void ins_reset_local_origin

(

void

)

INS local origin reset.

Reset horizontal and vertical reference to the current position. Does nothing if not implemented by specific INS algorithm.

INS local origin reset.

Definition at line 253 of file ins_int.c.

References LlaCoor_i::alt, GpsState::ecef_pos, gps, GpsFixValid, InsInt::hf_realign, GpsState::hmsl, LtpDef_i::hmsl, ins_int, LtpDef_i::lla, GpsState::lla_pos, InsInt::ltp_def, ltp_def_from_ecef_i(), InsInt::ltp_initialized, stateSetLocalOrigin_i(), and InsInt::vf_reset.

Referenced by ins_int_update_gps().

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static void ins_update_from_vff ( void  )

static

update ins state from vertical filter

Definition at line 528 of file ins_int.c.

References ACCEL_BFP_OF_REAL, ins_int, InsInt::ltp_accel, InsInt::ltp_pos, InsInt::ltp_speed, POS_BFP_OF_REAL, SPEED_BFP_OF_REAL, vff, VffExtended::z, NedCoor_i::z, VffExtended::zdot, and VffExtended::zdotdot.

Referenced by baro_cb(), and ins_int_propagate().

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static void pos_est_cb ( uint8_t  sender_id, uint32_t  stamp, float  x, float  y, float  z, float  noise_x, float  noise_y, float  noise_z  )

static

Definition at line 635 of file ins_int.c.

References hff_update_pos(), ins_int, ins_ned_to_state(), InsInt::ltp_pos, POS_BFP_OF_REAL, InsInt::propagation_cnt, vff_update_z_conf(), FloatVect2::x, NedCoor_i::x, and NedCoor_i::y.

Referenced by ins_int_init().

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static void send_ins ( struct transport_tx *  trans, struct link_device *  dev  )

static

Definition at line 171 of file ins_int.c.

References ins_int, InsInt::ltp_accel, InsInt::ltp_pos, InsInt::ltp_speed, NedCoor_i::x, NedCoor_i::y, and NedCoor_i::z.

Referenced by ins_int_init().

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static void send_ins_ref ( struct transport_tx *  trans, struct link_device *  dev  )

static

Definition at line 185 of file ins_int.c.

References LlaCoor_i::alt, LtpDef_i::ecef, LtpDef_i::hmsl, ins_int, LlaCoor_i::lat, LtpDef_i::lla, LlaCoor_i::lon, InsInt::ltp_def, InsInt::ltp_initialized, InsInt::qfe, EcefCoor_i::x, EcefCoor_i::y, and EcefCoor_i::z.

Referenced by ins_int_init().

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static void send_ins_z ( struct transport_tx *  trans, struct link_device *  dev  )

static

Definition at line 179 of file ins_int.c.

References InsInt::baro_z, ins_int, InsInt::ltp_accel, InsInt::ltp_pos, InsInt::ltp_speed, and NedCoor_i::z.

Referenced by ins_int_init().

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static void vel_est_cb ( uint8_t  sender_id, uint32_t  stamp, float  x, float  y, float  z, float  noise_x, float  noise_y, float  noise_z  )

static

Definition at line 573 of file ins_int.c.

References float_quat_vmult(), hff_update_vel(), ins_int, ins_ned_to_state(), InsInt::ltp_pos, InsInt::ltp_speed, POS_BFP_OF_REAL, InsInt::propagation_cnt, QUAT_INVERT, SPEED_BFP_OF_REAL, stateGetNedToBodyQuat_f(), vff_update_vz_conf(), FloatVect3::x, NedCoor_i::x, FloatVect3::y, NedCoor_i::y, and FloatVect3::z.

Referenced by ins_int_init().

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Variable Documentation

abi_event accel_ev

static

Definition at line 128 of file ins_int.c.

abi_event agl_ev

static

The agl ABI event.

Definition at line 163 of file ins_int.c.

abi_event baro_ev

Definition at line 119 of file ins_int.c.

abi_event gps_ev

static

Definition at line 134 of file ins_int.c.

struct InsInt ins_int

global INS state

Definition at line 166 of file ins_int.c.

Referenced by baro_cb(), ins_int_init(), ins_int_propagate(), ins_int_update_gps(), ins_ned_to_state(), ins_reset_altitude_ref(), ins_reset_local_origin(), ins_update_from_vff(), pos_est_cb(), send_ins(), send_ins_ref(), send_ins_z(), and vel_est_cb().

abi_event pos_est_ev

static

Definition at line 151 of file ins_int.c.

abi_event vel_est_ev

static

Definition at line 143 of file ins_int.c.