ahrs_float_dcm_wrapper.c File Reference

#include "subsystems/ahrs/ahrs_float_dcm_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_DCM_OUTPUT_ENABLED   TRUE
#define	AHRS_DCM_IMU_ID   ABI_BROADCAST
	ABI binding for IMU data. More...
#define	AHRS_DCM_MAG_ID   AHRS_DCM_IMU_ID
	ABI binding for magnetometer data. More...
#define	AHRS_DCM_GPS_ID   GPS_MULTI_ID
	ABI binding for gps data. More...

Functions
static void	set_body_orientation_and_rates (void)
	Compute body orientation and rates from imu orientation and rates. More...
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	gps_cb (uint8_t sender_id, uint32_t stamp, struct GpsState *gps_s)
static bool	ahrs_dcm_enable_output (bool enable)
void	ahrs_dcm_register (void)

Variables
static bool	ahrs_dcm_output_enabled
	if TRUE with push the estimation results to the state interface More...
static uint32_t	ahrs_dcm_last_stamp
static uint8_t	ahrs_dcm_id = AHRS_COMP_ID_DCM
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	gps_ev

Detailed Description

Paparazzi specific wrapper to run floating point complementary filter.

Definition in file ahrs_float_dcm_wrapper.c.

Macro Definition Documentation

AHRS_DCM_GPS_ID

#define AHRS_DCM_GPS_ID   GPS_MULTI_ID

ABI binding for gps data.

Used for GPS ABI messages.

Definition at line 78 of file ahrs_float_dcm_wrapper.c.

AHRS_DCM_IMU_ID

#define AHRS_DCM_IMU_ID   ABI_BROADCAST

ABI binding for IMU data.

Used for gyro and accel ABI messages.

Definition at line 64 of file ahrs_float_dcm_wrapper.c.

AHRS_DCM_MAG_ID

#define AHRS_DCM_MAG_ID   AHRS_DCM_IMU_ID

ABI binding for magnetometer data.

Used for IMU_MAG_INT32 ABI messages.

Definition at line 71 of file ahrs_float_dcm_wrapper.c.

AHRS_DCM_OUTPUT_ENABLED

#define AHRS_DCM_OUTPUT_ENABLED   TRUE

Definition at line 33 of file ahrs_float_dcm_wrapper.c.

Function Documentation

accel_cb()

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

static

Definition at line 117 of file ahrs_float_dcm_wrapper.c.

References ACCELS_FLOAT_OF_BFP, ahrs_dcm, ahrs_dcm_update_accel(), and AhrsFloatDCM::is_aligned.

Referenced by ahrs_dcm_register().

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ahrs_dcm_enable_output()

static bool ahrs_dcm_enable_output ( bool  enable )

static

Definition at line 172 of file ahrs_float_dcm_wrapper.c.

References ahrs_dcm_output_enabled.

Referenced by ahrs_dcm_register().

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ahrs_dcm_register()

void ahrs_dcm_register

(

void

)

Definition at line 198 of file ahrs_float_dcm_wrapper.c.

References ABI_BROADCAST, accel_cb(), accel_ev, ahrs_dcm_enable_output(), AHRS_DCM_GPS_ID, AHRS_DCM_IMU_ID, ahrs_dcm_init(), AHRS_DCM_MAG_ID, AHRS_DCM_OUTPUT_ENABLED, ahrs_dcm_output_enabled, ahrs_register_impl(), aligner_cb(), aligner_ev, body_to_imu_cb(), body_to_imu_ev, DefaultPeriodic, gps_cb(), gps_ev, gyro_cb(), gyro_ev, mag_cb(), mag_ev, register_periodic_telemetry(), and send_filter_status().

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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 139 of file ahrs_float_dcm_wrapper.c.

References ACCELS_FLOAT_OF_BFP, ahrs_dcm, ahrs_dcm_align(), AhrsFloatDCM::is_aligned, MAGS_FLOAT_OF_BFP, RATES_FLOAT_OF_BFP, and set_body_orientation_and_rates().

Referenced by ahrs_dcm_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 159 of file ahrs_float_dcm_wrapper.c.

References ahrs_dcm_set_body_to_imu_quat().

Referenced by ahrs_dcm_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 165 of file ahrs_float_dcm_wrapper.c.

References ahrs_dcm_update_gps().

Referenced by ahrs_dcm_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 89 of file ahrs_float_dcm_wrapper.c.

References ahrs_dcm, ahrs_dcm_last_stamp, ahrs_dcm_propagate(), AHRS_PROPAGATE_FREQUENCY, AhrsFloatDCM::is_aligned, PRINT_CONFIG_MSG(), RATES_FLOAT_OF_BFP, and set_body_orientation_and_rates().

Referenced by ahrs_dcm_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 128 of file ahrs_float_dcm_wrapper.c.

References ahrs_dcm, ahrs_dcm_update_mag(), AhrsFloatDCM::is_aligned, and MAGS_FLOAT_OF_BFP.

Referenced by ahrs_dcm_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 48 of file ahrs_float_dcm_wrapper.c.

References ahrs_dcm, ahrs_dcm_id, ahrs_dcm_last_stamp, dev, get_sys_time_usec(), AhrsFloatDCM::is_aligned, and val.

Referenced by ahrs_dcm_register().

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set_body_orientation_and_rates()

static void set_body_orientation_and_rates ( void  )

static

Compute body orientation and rates from imu orientation and rates.

Definition at line 181 of file ahrs_float_dcm_wrapper.c.

References ahrs_dcm, ahrs_dcm_output_enabled, AhrsFloatDCM::body_to_imu, float_rmat_comp_inv(), float_rmat_of_eulers, float_rmat_transp_ratemult(), AhrsFloatDCM::imu_rate, AhrsFloatDCM::ltp_to_imu_euler, orientationGetRMat_f(), stateSetBodyRates_f(), and stateSetNedToBodyRMat_f().

Referenced by aligner_cb(), and gyro_cb().

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Variable Documentation

accel_ev

abi_event accel_ev

static

Definition at line 82 of file ahrs_float_dcm_wrapper.c.

Referenced by ahrs_dcm_register().

ahrs_dcm_id

uint8_t ahrs_dcm_id = AHRS_COMP_ID_DCM

static

Definition at line 40 of file ahrs_float_dcm_wrapper.c.

Referenced by send_filter_status().

ahrs_dcm_last_stamp

uint32_t ahrs_dcm_last_stamp

static

Definition at line 39 of file ahrs_float_dcm_wrapper.c.

Referenced by gyro_cb(), and send_filter_status().

ahrs_dcm_output_enabled

bool ahrs_dcm_output_enabled

static

if TRUE with push the estimation results to the state interface

Definition at line 38 of file ahrs_float_dcm_wrapper.c.

Referenced by ahrs_dcm_enable_output(), ahrs_dcm_register(), and set_body_orientation_and_rates().

aligner_ev

abi_event aligner_ev

static

Definition at line 84 of file ahrs_float_dcm_wrapper.c.

Referenced by ahrs_dcm_register().

body_to_imu_ev

abi_event body_to_imu_ev

static

Definition at line 85 of file ahrs_float_dcm_wrapper.c.

Referenced by ahrs_dcm_register().

gps_ev

abi_event gps_ev

static

Definition at line 86 of file ahrs_float_dcm_wrapper.c.

Referenced by ahrs_dcm_register().

gyro_ev

abi_event gyro_ev

static

Definition at line 81 of file ahrs_float_dcm_wrapper.c.

Referenced by ahrs_dcm_register().

mag_ev

abi_event mag_ev

static

Definition at line 83 of file ahrs_float_dcm_wrapper.c.

Referenced by ahrs_dcm_register().