ins_float_invariant module

Invariant INS (in float).

Estimates attitude, velocity, position and (gyro, accel, baro) biases.

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_float_invariant">
  <configure name="USE_MAGNETOMETER" value="TRUE|FALSE" />
  <configure name="AHRS_ALIGNER_LED" value="2" />
</module>

Module configuration options

Configure Options

• name: USE_MAGNETOMETER value: TRUE|FALSE
  Description: use magnetometer
• name: AHRS_ALIGNER_LED value: 2
  Description: LED number to indicate if AHRS/INS is aligned

Module functions

Init Functions

These initialization functions are called once on startup.

• ins_float_invariant_wrapper_init()

Files

Header Files

The following headers are automatically included in modules.h

• ins_float_invariant_wrapper.h

Source Files

• subsystems/ahrs/ahrs_aligner.c
• subsystems/ins.c
• subsystems/ins/ins_float_invariant.c
• subsystems/ins/ins_float_invariant_wrapper.c
• subsystems/ahrs.c
• subsystems/ahrs/ahrs_sim.c

Raw ins_float_invariant.xml file:

<!DOCTYPE module SYSTEM "module.dtd">

<module name="ins_float_invariant" dir="ins">
  <doc>
    <description>
      Invariant INS (in float).
      Estimates attitude, velocity, position and (gyro, accel, baro) biases.
    </description>
    <configure name="USE_MAGNETOMETER" value="TRUE|FALSE" description="use magnetometer"/>
    <configure name="AHRS_ALIGNER_LED" value="2" description="LED number to indicate if AHRS/INS is aligned"/>
  </doc>
  <settings>
    <dl_settings>
      <dl_settings NAME="invariant">
        <dl_setting MAX="1" MIN="1" STEP="1" VAR="ins_float_inv.reset" shortname="reset"/>
        <dl_setting MAX="10" MIN="0." STEP="0.001" VAR="ins_float_inv.gains.lv" shortname="lv" module="subsystems/ins/ins_float_invariant"/>
        <dl_setting MAX="10" MIN="0." STEP="0.001" VAR="ins_float_inv.gains.lb" shortname="lb"/>
        <dl_setting MAX="10" MIN="0." STEP="0.001" VAR="ins_float_inv.gains.mv" shortname="mv"/>
        <dl_setting MAX="10" MIN="0." STEP="0.01" VAR="ins_float_inv.gains.mh" shortname="mh"/>
        <dl_setting MAX="20" MIN="0." STEP="0.01" VAR="ins_float_inv.gains.nx" shortname="nx"/>
        <dl_setting MAX="10" MIN="0." STEP="0.01" VAR="ins_float_inv.gains.nxz" shortname="nxz"/>
        <dl_setting MAX="30" MIN="0." STEP="0.01" VAR="ins_float_inv.gains.mvz" shortname="mvz"/>
        <dl_setting MAX="5" MIN="0." STEP="0.01" VAR="ins_float_inv.gains.nh" shortname="nh"/>
        <dl_setting MAX="5" MIN="0." STEP="0.01" VAR="ins_float_inv.gains.ov" shortname="ov"/>
        <dl_setting MAX="3" MIN="0." STEP="0.01" VAR="ins_float_inv.gains.ob" shortname="ob"/>
        <dl_setting MAX="10" MIN="0." STEP="0.01" VAR="ins_float_inv.gains.rv" shortname="rv"/>
        <dl_setting MAX="10" MIN="0." STEP="0.01" VAR="ins_float_inv.gains.rh" shortname="rh"/>
        <dl_setting MAX="1" MIN="0." STEP="0.001" VAR="ins_float_inv.gains.sh" shortname="sh"/>
      </dl_settings>
    </dl_settings>
  </settings>
  <header>
    <file name="ins_float_invariant_wrapper.h" dir="subsystems/ins"/>
  </header>
  <init fun="ins_float_invariant_wrapper_init()"/>
  <makefile target="ap|nps">
    <define name="AHRS_ALIGNER_LED" value="$(AHRS_ALIGNER_LED)" cond="ifneq ($(AHRS_ALIGNER_LED),none)"/>
    <configure name="USE_MAGNETOMETER" default="TRUE"/>
    <define name="USE_MAGNETOMETER" cond="ifeq (,$(findstring $(USE_MAGNETOMETER),0 FALSE))"/>

    <file name="ahrs_aligner.c" dir="subsystems/ahrs"/>
    <file name="ins.c" dir="subsystems"/>
    <file name="ins_float_invariant.c" dir="subsystems/ins"/>
    <file name="ins_float_invariant_wrapper.c" dir="subsystems/ins"/>

    <define name="USE_AHRS_ALIGNER"/>
    <define name="INS_TYPE_H" value="subsystems/ins/ins_float_invariant_wrapper.h" type="string"/>
  </makefile>
  <makefile target="ap|nps" firmware="fixedwing">
    <define name="INS_FINV_USE_UTM"/>
  </makefile>
  <makefile target="sim">
    <define name="AHRS_TYPE_H" value="subsystems/ahrs/ahrs_sim.h" type="string"/>
    <define name="USE_AHRS"/>
    <file name="ahrs.c" dir="subsystems"/>
    <file name="ahrs_sim.c" dir="subsystems/ahrs"/>
  </makefile>
</module>