ahrs_float_invariant_wrapper.c File Reference

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

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Macros
#define	AHRS_FINV_OUTPUT_ENABLED   TRUE
#define	AHRS_FINV_IMU_ID   ABI_BROADCAST
	IMU (gyro, accel) More...
#define	AHRS_FINV_MAG_ID   AHRS_FINV_IMU_ID
	magnetometer More...

Functions
static void	compute_body_orientation_and_rates (void)
	Compute body orientation and rates from imu orientation and rates. More...
static void	send_att (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)
	Call ahrs_float_invariant_propagate on new gyro measurements. More...
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 bool	ahrs_float_invariant_enable_output (bool enable)
void	ahrs_float_invariant_register (void)

Variables
static bool	ahrs_finv_output_enabled
	if TRUE with push the estimation results to the state interface More...
static uint32_t	ahrs_finv_last_stamp = 0
	last gyro msg timestamp More...
static uint8_t	ahrs_finv_id = AHRS_COMP_ID_FINV
static abi_event	mag_ev
static abi_event	gyro_ev
static abi_event	accel_ev
static abi_event	aligner_ev
static abi_event	body_to_imu_ev
static abi_event	geo_mag_ev

Detailed Description

Paparazzi specific wrapper to run INVARIANT ahrs filter.

Definition in file ahrs_float_invariant_wrapper.c.

Macro Definition Documentation

AHRS_FINV_IMU_ID

#define AHRS_FINV_IMU_ID   ABI_BROADCAST

IMU (gyro, accel)

Definition at line 104 of file ahrs_float_invariant_wrapper.c.

AHRS_FINV_MAG_ID

#define AHRS_FINV_MAG_ID   AHRS_FINV_IMU_ID

magnetometer

Definition at line 110 of file ahrs_float_invariant_wrapper.c.

AHRS_FINV_OUTPUT_ENABLED

#define AHRS_FINV_OUTPUT_ENABLED   TRUE

Definition at line 36 of file ahrs_float_invariant_wrapper.c.

Function Documentation

accel_cb()

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

static

Definition at line 156 of file ahrs_float_invariant_wrapper.c.

References ACCELS_FLOAT_OF_BFP, ahrs_float_inv, ahrs_float_invariant_update_accel(), and AhrsFloatInv::is_aligned.

Referenced by ahrs_float_invariant_register().

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ahrs_float_invariant_enable_output()

static bool ahrs_float_invariant_enable_output ( bool  enable )

static

Definition at line 207 of file ahrs_float_invariant_wrapper.c.

References ahrs_finv_output_enabled.

Referenced by ahrs_float_invariant_register().

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ahrs_float_invariant_register()

void ahrs_float_invariant_register

(

void

)

Definition at line 237 of file ahrs_float_invariant_wrapper.c.

References ABI_BROADCAST, accel_cb(), accel_ev, AHRS_FINV_IMU_ID, AHRS_FINV_MAG_ID, AHRS_FINV_OUTPUT_ENABLED, ahrs_finv_output_enabled, ahrs_float_invariant_enable_output(), ahrs_float_invariant_init(), ahrs_register_impl(), aligner_cb(), aligner_ev, body_to_imu_cb(), body_to_imu_ev, DefaultPeriodic, geo_mag_cb(), geo_mag_ev, gyro_cb(), gyro_ev, mag_cb(), mag_ev, register_periodic_telemetry(), send_att(), 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 178 of file ahrs_float_invariant_wrapper.c.

References ACCELS_FLOAT_OF_BFP, ahrs_float_inv, ahrs_float_invariant_align(), compute_body_orientation_and_rates(), AhrsFloatInv::is_aligned, MAGS_FLOAT_OF_BFP, and RATES_FLOAT_OF_BFP.

Referenced by ahrs_float_invariant_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 196 of file ahrs_float_invariant_wrapper.c.

References ahrs_float_inv_set_body_to_imu_quat().

Referenced by ahrs_float_invariant_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 216 of file ahrs_float_invariant_wrapper.c.

References ahrs_finv_output_enabled, ahrs_float_inv, inv_state::bias, AhrsFloatInv::body_to_imu, AhrsFloatInv::cmd, float_quat_comp_inv(), float_rmat_transp_ratemult(), orientationGetQuat_f(), orientationGetRMat_f(), inv_state::quat, inv_command::rates, RATES_DIFF, AhrsFloatInv::state, stateSetBodyRates_f(), and stateSetNedToBodyQuat_f().

Referenced by aligner_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 202 of file ahrs_float_invariant_wrapper.c.

References ahrs_float_inv, h(), and AhrsFloatInv::mag_h.

Referenced by ahrs_float_invariant_register().

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gyro_cb()

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

static

Call ahrs_float_invariant_propagate on new gyro measurements.

Since acceleration measurement is also needed for propagation, use the last stored accel from #ahrs_finv_accel.

Definition at line 126 of file ahrs_float_invariant_wrapper.c.

References ahrs_finv_last_stamp, ahrs_float_inv, ahrs_float_invariant_propagate(), AHRS_PROPAGATE_FREQUENCY, compute_body_orientation_and_rates(), AhrsFloatInv::is_aligned, PRINT_CONFIG_MSG(), and RATES_FLOAT_OF_BFP.

Referenced by ahrs_float_invariant_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 167 of file ahrs_float_invariant_wrapper.c.

References ahrs_float_inv, ahrs_float_invariant_update_mag(), AhrsFloatInv::is_aligned, and MAGS_FLOAT_OF_BFP.

Referenced by ahrs_float_invariant_register().

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send_att()

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

static

Definition at line 51 of file ahrs_float_invariant_wrapper.c.

References ahrs_finv_id, ahrs_float_inv, AhrsFloatInv::body_to_imu, dev, EULERS_BFP_OF_REAL, float_eulers_of_quat(), float_quat_comp_inv(), orientationGetQuat_f(), Int32Eulers::phi, Int32Eulers::psi, inv_state::quat, AhrsFloatInv::state, and Int32Eulers::theta.

Referenced by ahrs_float_invariant_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 86 of file ahrs_float_invariant_wrapper.c.

References ahrs_finv_id, ahrs_finv_last_stamp, ahrs_float_inv, dev, get_sys_time_usec(), AhrsFloatInv::is_aligned, and val.

Referenced by ahrs_float_invariant_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 78 of file ahrs_float_invariant_wrapper.c.

References ahrs_finv_id, ahrs_float_inv, dev, AhrsFloatInv::mag_h, FloatVect3::x, FloatVect3::y, and FloatVect3::z.

Referenced by ahrs_float_invariant_register().

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Variable Documentation

accel_ev

abi_event accel_ev

static

Definition at line 116 of file ahrs_float_invariant_wrapper.c.

Referenced by ahrs_float_invariant_register().

ahrs_finv_id

uint8_t ahrs_finv_id = AHRS_COMP_ID_FINV

static

Definition at line 44 of file ahrs_float_invariant_wrapper.c.

Referenced by send_att(), send_filter_status(), and send_geo_mag().

ahrs_finv_last_stamp

uint32_t ahrs_finv_last_stamp = 0

static

last gyro msg timestamp

Definition at line 43 of file ahrs_float_invariant_wrapper.c.

Referenced by gyro_cb(), and send_filter_status().

ahrs_finv_output_enabled

bool ahrs_finv_output_enabled

static

if TRUE with push the estimation results to the state interface

Definition at line 41 of file ahrs_float_invariant_wrapper.c.

Referenced by ahrs_float_invariant_enable_output(), ahrs_float_invariant_register(), and compute_body_orientation_and_rates().

aligner_ev

abi_event aligner_ev

static

Definition at line 117 of file ahrs_float_invariant_wrapper.c.

Referenced by ahrs_float_invariant_register().

body_to_imu_ev

abi_event body_to_imu_ev

static

Definition at line 118 of file ahrs_float_invariant_wrapper.c.

Referenced by ahrs_float_invariant_register().

geo_mag_ev

abi_event geo_mag_ev

static

Definition at line 119 of file ahrs_float_invariant_wrapper.c.

Referenced by ahrs_float_invariant_register().

gyro_ev

abi_event gyro_ev

static

Definition at line 115 of file ahrs_float_invariant_wrapper.c.

Referenced by ahrs_float_invariant_register().

mag_ev

abi_event mag_ev

static

Definition at line 114 of file ahrs_float_invariant_wrapper.c.

Referenced by ahrs_float_invariant_register().