ahrs_float_cmpl_wrapper.c File Reference

#include "subsystems/ahrs/ahrs_float_cmpl_wrapper.h"
#include "subsystems/ahrs.h"
#include "subsystems/abi.h"
#include "state.h"
#include "subsystems/datalink/telemetry.h"
#include "mcu_periph/sys_time.h"

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Macros
#define	AHRS_FC_OUTPUT_ENABLED   TRUE
#define	AHRS_FC_IMU_ID   ABI_BROADCAST
	ABI binding for IMU data. More...
#define	AHRS_FC_MAG_ID   AHRS_FC_IMU_ID
	ABI binding for magnetometer data. More...
#define	AHRS_FC_GPS_ID   GPS_MULTI_ID
	ABI binding for gps data. More...

Functions
static void	compute_body_orientation_and_rates (void)
	Compute body orientation and rates from imu orientation and rates. More...
static void	send_euler (struct transport_tx *trans, struct link_device *dev)
static void	send_bias (struct transport_tx *trans, struct link_device *dev)
static void	send_euler_int (struct transport_tx *trans, struct link_device *dev)
static void	send_geo_mag (struct transport_tx *trans, struct link_device *dev)
static void	send_filter_status (struct transport_tx *trans, struct link_device *dev)
static void	gyro_cb (uint8_t sender_id, uint32_t stamp, struct Int32Rates *gyro)
static void	accel_cb (uint8_t sender_id, uint32_t stamp, struct Int32Vect3 *accel)
static void	mag_cb (uint8_t sender_id, uint32_t stamp, struct Int32Vect3 *mag)
static void	aligner_cb (uint8_t sender_id, uint32_t stamp, struct Int32Rates *lp_gyro, struct Int32Vect3 *lp_accel, struct Int32Vect3 *lp_mag)
static void	body_to_imu_cb (uint8_t sender_id, struct FloatQuat *q_b2i_f)
static void	geo_mag_cb (uint8_t sender_id, struct FloatVect3 *h)
static void	gps_cb (uint8_t sender_id, uint32_t stamp, struct GpsState *gps_s)
static bool	ahrs_fc_enable_output (bool enable)
void	ahrs_fc_register (void)

Variables
static bool	ahrs_fc_output_enabled
	if TRUE with push the estimation results to the state interface More...
static uint32_t	ahrs_fc_last_stamp
static uint8_t	ahrs_fc_id = AHRS_COMP_ID_FC
static abi_event	gyro_ev
static abi_event	accel_ev
static abi_event	mag_ev
static abi_event	aligner_ev
static abi_event	body_to_imu_ev
static abi_event	geo_mag_ev
static abi_event	gps_ev

Detailed Description

Paparazzi specific wrapper to run floating point complementary filter.

Definition in file ahrs_float_cmpl_wrapper.c.

Macro Definition Documentation

AHRS_FC_GPS_ID

#define AHRS_FC_GPS_ID   GPS_MULTI_ID

ABI binding for gps data.

Used for GPS ABI messages.

Definition at line 127 of file ahrs_float_cmpl_wrapper.c.

AHRS_FC_IMU_ID

#define AHRS_FC_IMU_ID   ABI_BROADCAST

ABI binding for IMU data.

Used for gyro and accel ABI messages.

Definition at line 113 of file ahrs_float_cmpl_wrapper.c.

AHRS_FC_MAG_ID

#define AHRS_FC_MAG_ID   AHRS_FC_IMU_ID

ABI binding for magnetometer data.

Used for IMU_MAG_INT32 ABI messages.

Definition at line 120 of file ahrs_float_cmpl_wrapper.c.

AHRS_FC_OUTPUT_ENABLED

#define AHRS_FC_OUTPUT_ENABLED   TRUE

Definition at line 33 of file ahrs_float_cmpl_wrapper.c.

Function Documentation

accel_cb()

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

static

Definition at line 168 of file ahrs_float_cmpl_wrapper.c.

References ACCELS_FLOAT_OF_BFP, ahrs_fc, ahrs_fc_update_accel(), AhrsFloatCmpl::is_aligned, and PRINT_CONFIG_MSG().

Referenced by ahrs_fc_register().

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ahrs_fc_enable_output()

static bool ahrs_fc_enable_output ( bool  enable )

static

Definition at line 257 of file ahrs_float_cmpl_wrapper.c.

References ahrs_fc_output_enabled.

Referenced by ahrs_fc_register().

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ahrs_fc_register()

void ahrs_fc_register

(

void

)

Definition at line 283 of file ahrs_float_cmpl_wrapper.c.

References ABI_BROADCAST, accel_cb(), accel_ev, ahrs_fc_enable_output(), AHRS_FC_GPS_ID, AHRS_FC_IMU_ID, ahrs_fc_init(), AHRS_FC_MAG_ID, AHRS_FC_OUTPUT_ENABLED, ahrs_fc_output_enabled, ahrs_register_impl(), aligner_cb(), aligner_ev, body_to_imu_cb(), body_to_imu_ev, DefaultPeriodic, geo_mag_cb(), geo_mag_ev, gps_cb(), gps_ev, gyro_cb(), gyro_ev, mag_cb(), mag_ev, register_periodic_telemetry(), send_bias(), send_euler(), send_euler_int(), send_filter_status(), and send_geo_mag().

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aligner_cb()

static void aligner_cb ( uint8_t  sender_id, uint32_t  stamp, struct Int32Rates *  lp_gyro, struct Int32Vect3 *  lp_accel, struct Int32Vect3 *  lp_mag  )

static

Definition at line 218 of file ahrs_float_cmpl_wrapper.c.

References ACCELS_FLOAT_OF_BFP, ahrs_fc, ahrs_fc_align(), compute_body_orientation_and_rates(), AhrsFloatCmpl::is_aligned, MAGS_FLOAT_OF_BFP, and RATES_FLOAT_OF_BFP.

Referenced by ahrs_fc_register().

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body_to_imu_cb()

static void body_to_imu_cb ( uint8_t  sender_id, struct FloatQuat *  q_b2i_f  )

static

Definition at line 238 of file ahrs_float_cmpl_wrapper.c.

References ahrs_fc_set_body_to_imu_quat().

Referenced by ahrs_fc_register().

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compute_body_orientation_and_rates()

static void compute_body_orientation_and_rates ( void  )

static

Compute body orientation and rates from imu orientation and rates.

Definition at line 266 of file ahrs_float_cmpl_wrapper.c.

References ahrs_fc, ahrs_fc_output_enabled, ahrs_fc_recompute_ltp_to_body(), AhrsFloatCmpl::body_to_imu, float_rmat_transp_ratemult(), AhrsFloatCmpl::imu_rate, AhrsFloatCmpl::ltp_to_body, orientationGetQuat_f(), orientationGetRMat_f(), stateSetBodyRates_f(), and stateSetNedToBodyQuat_f().

Referenced by aligner_cb(), gps_cb(), and gyro_cb().

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geo_mag_cb()

static void geo_mag_cb ( uint8_t  sender_id, struct FloatVect3 *  h  )

static

Definition at line 244 of file ahrs_float_cmpl_wrapper.c.

References ahrs_fc, h(), and AhrsFloatCmpl::mag_h.

Referenced by ahrs_fc_register().

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gps_cb()

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

static

Definition at line 249 of file ahrs_float_cmpl_wrapper.c.

References ahrs_fc_update_gps(), and compute_body_orientation_and_rates().

Referenced by ahrs_fc_register().

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gyro_cb()

static void gyro_cb ( uint8_t  sender_id, uint32_t  stamp, struct Int32Rates *  gyro  )

static

Definition at line 139 of file ahrs_float_cmpl_wrapper.c.

References ahrs_fc, ahrs_fc_last_stamp, ahrs_fc_propagate(), AHRS_FC_RUNNING, AHRS_PROPAGATE_FREQUENCY, compute_body_orientation_and_rates(), AhrsFloatCmpl::is_aligned, PRINT_CONFIG_MSG(), RATES_FLOAT_OF_BFP, and AhrsFloatCmpl::status.

Referenced by ahrs_fc_register().

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mag_cb()

static void mag_cb ( uint8_t  sender_id, uint32_t  stamp, struct Int32Vect3 *  mag  )

static

Definition at line 193 of file ahrs_float_cmpl_wrapper.c.

References ahrs_fc, ahrs_fc_update_mag(), AhrsFloatCmpl::is_aligned, MAGS_FLOAT_OF_BFP, and PRINT_CONFIG_MSG().

Referenced by ahrs_fc_register().

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send_bias()

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

static

Definition at line 60 of file ahrs_float_cmpl_wrapper.c.

References ahrs_fc, ahrs_fc_id, dev, AhrsFloatCmpl::gyro_bias, Int32Rates::p, Int32Rates::q, Int32Rates::r, and RATES_BFP_OF_REAL.

Referenced by ahrs_fc_register().

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send_euler()

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

static

Definition at line 49 of file ahrs_float_cmpl_wrapper.c.

References ahrs_fc, ahrs_fc_id, dev, float_eulers_of_quat(), AhrsFloatCmpl::ltp_to_imu_quat, FloatEulers::phi, FloatEulers::psi, and FloatEulers::theta.

Referenced by ahrs_fc_register().

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send_euler_int()

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

static

Definition at line 68 of file ahrs_float_cmpl_wrapper.c.

References ahrs_fc, ahrs_fc_id, ahrs_fc_recompute_ltp_to_body(), dev, EULERS_BFP_OF_REAL, float_eulers_of_quat(), AhrsFloatCmpl::ltp_to_body, AhrsFloatCmpl::ltp_to_imu_quat, orientationGetEulers_i(), Int32Eulers::phi, Int32Eulers::psi, and Int32Eulers::theta.

Referenced by ahrs_fc_register().

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send_filter_status()

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

static

Definition at line 96 of file ahrs_float_cmpl_wrapper.c.

References ahrs_fc, ahrs_fc_id, ahrs_fc_last_stamp, dev, get_sys_time_usec(), AhrsFloatCmpl::is_aligned, and val.

Referenced by ahrs_fc_register().

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send_geo_mag()

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

static

Definition at line 90 of file ahrs_float_cmpl_wrapper.c.

References ahrs_fc, ahrs_fc_id, dev, AhrsFloatCmpl::mag_h, FloatVect3::x, FloatVect3::y, and FloatVect3::z.

Referenced by ahrs_fc_register().

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Variable Documentation

accel_ev

abi_event accel_ev

static

Definition at line 131 of file ahrs_float_cmpl_wrapper.c.

Referenced by ahrs_fc_register().

ahrs_fc_id

uint8_t ahrs_fc_id = AHRS_COMP_ID_FC

static

Definition at line 40 of file ahrs_float_cmpl_wrapper.c.

Referenced by send_bias(), send_euler(), send_euler_int(), send_filter_status(), and send_geo_mag().

ahrs_fc_last_stamp

uint32_t ahrs_fc_last_stamp

static

Definition at line 39 of file ahrs_float_cmpl_wrapper.c.

Referenced by gyro_cb(), and send_filter_status().

ahrs_fc_output_enabled

bool ahrs_fc_output_enabled

static

if TRUE with push the estimation results to the state interface

Definition at line 38 of file ahrs_float_cmpl_wrapper.c.

Referenced by ahrs_fc_enable_output(), ahrs_fc_register(), and compute_body_orientation_and_rates().

aligner_ev

abi_event aligner_ev

static

Definition at line 133 of file ahrs_float_cmpl_wrapper.c.

Referenced by ahrs_fc_register().

body_to_imu_ev

abi_event body_to_imu_ev

static

Definition at line 134 of file ahrs_float_cmpl_wrapper.c.

Referenced by ahrs_fc_register().

geo_mag_ev

abi_event geo_mag_ev

static

Definition at line 135 of file ahrs_float_cmpl_wrapper.c.

Referenced by ahrs_fc_register().

gps_ev

abi_event gps_ev

static

Definition at line 136 of file ahrs_float_cmpl_wrapper.c.

Referenced by ahrs_fc_register().

gyro_ev

abi_event gyro_ev

static

Definition at line 130 of file ahrs_float_cmpl_wrapper.c.

Referenced by ahrs_fc_register().

mag_ev

abi_event mag_ev

static

Definition at line 132 of file ahrs_float_cmpl_wrapper.c.

Referenced by ahrs_fc_register().