Paparazzi UAS: sw/airborne/modules/imu/filter_1euro_imu.c File Reference

Paparazzi UAS v5.18.0_stable

Paparazzi is a free software Unmanned Aircraft System.

#include "modules/imu/filter_1euro_imu.h"
#include "filters/1e_filter.h"
#include "math/pprz_algebra_int.h"
#include "math/pprz_algebra_float.h"
#include "subsystems/abi.h"
#include "generated/airframe.h"

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Macros
#define	FILTER_1EURO_ENABLED TRUE
	Enable by default. More...

#define	FILTER_1EURO_GYRO_MINCUTOFF 10.f
	Default gyro min cutoff freq. More...

#define	FILTER_1EURO_GYRO_BETA 0.1f
	Default gyro beta coef. More...

#define	FILTER_1EURO_GYRO_DCUTOFF 1.f
	Default gyro dcutoff (not recommanded to change) More...

#define	FILTER_1EURO_ACCEL_MINCUTOFF 0.1f
	Default accel min cutoff freq. More...

#define	FILTER_1EURO_ACCEL_BETA 0.01f
	Default accel beta coef. More...

#define	FILTER_1EURO_ACCEL_DCUTOFF 1.f
	Default accel dcutoff (not recommanded to change) More...

#define	FILTER_1EURO_FREQ PERIODIC_FREQUENCY
	Auto freq if not defined. More...

#define	IMU_F1E_BIND_ID ABI_BROADCAST
	ABI bindings. More...

Functions
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)

void	filter_1euro_imu_init (void)
	Init and bindings. More...

void	filter_1euro_imu_reset (float enabled)
	settings handlers More...

void	filter_1euro_imu_update_gyro_mincutoff (float mincutoff)

void	filter_1euro_imu_update_gyro_beta (float beta)

void	filter_1euro_imu_update_gyro_dcutoff (float dcutoff)

void	filter_1euro_imu_update_accel_mincutoff (float mincutoff)

void	filter_1euro_imu_update_accel_beta (float beta)

void	filter_1euro_imu_update_accel_dcutoff (float dcutoff)

Variables
struct Filter1eImu	filter_1e_imu
	configuration structure More...

static struct OneEuroFilter	gyro_1e [3]
	array of 1 euro filters for gyrometer More...

static struct OneEuroFilter	accel_1e [3]
	array of 1 euro filters for accelerometer More...

static abi_event	gyro_ev

static abi_event	accel_ev

static abi_event	mag_ev

Detailed Description

Author: Gautier Hattenberger gauti.nosp@m.er.h.nosp@m.atten.nosp@m.berg.nosp@m.er@en.nosp@m.ac.f.nosp@m.r Prefiltering for IMU data using 1euro filter

Definition in file filter_1euro_imu.c.

Macro Definition Documentation

◆ FILTER_1EURO_ACCEL_BETA

#define FILTER_1EURO_ACCEL_BETA 0.01f

Default accel beta coef.

Definition at line 60 of file filter_1euro_imu.c.

◆ FILTER_1EURO_ACCEL_DCUTOFF

#define FILTER_1EURO_ACCEL_DCUTOFF 1.f

Default accel dcutoff (not recommanded to change)

Definition at line 65 of file filter_1euro_imu.c.

◆ FILTER_1EURO_ACCEL_MINCUTOFF

#define FILTER_1EURO_ACCEL_MINCUTOFF 0.1f

Default accel min cutoff freq.

Definition at line 55 of file filter_1euro_imu.c.

◆ FILTER_1EURO_ENABLED

#define FILTER_1EURO_ENABLED TRUE

Enable by default.

Definition at line 35 of file filter_1euro_imu.c.

◆ FILTER_1EURO_FREQ

#define FILTER_1EURO_FREQ PERIODIC_FREQUENCY

Auto freq if not defined.

Definition at line 79 of file filter_1euro_imu.c.

◆ FILTER_1EURO_GYRO_BETA

#define FILTER_1EURO_GYRO_BETA 0.1f

Default gyro beta coef.

Definition at line 45 of file filter_1euro_imu.c.

◆ FILTER_1EURO_GYRO_DCUTOFF

#define FILTER_1EURO_GYRO_DCUTOFF 1.f

Default gyro dcutoff (not recommanded to change)

Definition at line 50 of file filter_1euro_imu.c.

◆ FILTER_1EURO_GYRO_MINCUTOFF

#define FILTER_1EURO_GYRO_MINCUTOFF 10.f

Default gyro min cutoff freq.

Definition at line 40 of file filter_1euro_imu.c.

◆ IMU_F1E_BIND_ID

#define IMU_F1E_BIND_ID ABI_BROADCAST

ABI bindings.

by default bind to all IMU raw data and send filtered data receivers (AHRS, INS) should bind to this prefilter module IMU (gyro, accel)

Definition at line 106 of file filter_1euro_imu.c.

Function Documentation

◆ accel_cb()

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

static

Definition at line 143 of file filter_1euro_imu.c.

References accel_1e, ACCELS_BFP_OF_REAL, ACCELS_FLOAT_OF_BFP, Filter1eImu::enabled, filter_1e_imu, IMU_F1E_ID, update_1e_filter(), update_1e_filter_at_time(), FloatVect3::x, FloatVect3::y, and FloatVect3::z.

Referenced by filter_1euro_imu_init().

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◆ filter_1euro_imu_init()

void filter_1euro_imu_init ( void )

Init and bindings.

Definition at line 185 of file filter_1euro_imu.c.

References accel_1e, Filter1eImu::accel_beta, accel_cb(), Filter1eImu::accel_dcutoff, accel_ev, Filter1eImu::accel_mincutoff, Filter1eImu::enabled, filter_1e_imu, FILTER_1EURO_ACCEL_BETA, FILTER_1EURO_ACCEL_DCUTOFF, FILTER_1EURO_ACCEL_MINCUTOFF, FILTER_1EURO_ENABLED, FILTER_1EURO_FREQ, FILTER_1EURO_GYRO_BETA, FILTER_1EURO_GYRO_DCUTOFF, FILTER_1EURO_GYRO_MINCUTOFF, gyro_1e, Filter1eImu::gyro_beta, gyro_cb(), Filter1eImu::gyro_dcutoff, gyro_ev, Filter1eImu::gyro_mincutoff, IMU_F1E_BIND_ID, init_1e_filter(), mag_cb(), and mag_ev.

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◆ filter_1euro_imu_reset()

void filter_1euro_imu_reset ( float enabled )

settings handlers

Definition at line 217 of file filter_1euro_imu.c.

References accel_1e, Filter1eImu::enabled, filter_1e_imu, gyro_1e, and reset_1e_filter().

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◆ filter_1euro_imu_update_accel_beta()

void filter_1euro_imu_update_accel_beta ( float beta )

Definition at line 258 of file filter_1euro_imu.c.

References accel_1e, Filter1eImu::accel_beta, OneEuroFilter::beta, and filter_1e_imu.

◆ filter_1euro_imu_update_accel_dcutoff()

void filter_1euro_imu_update_accel_dcutoff ( float dcutoff )

Definition at line 266 of file filter_1euro_imu.c.

References accel_1e, Filter1eImu::accel_dcutoff, OneEuroFilter::dcutoff, and filter_1e_imu.

◆ filter_1euro_imu_update_accel_mincutoff()

void filter_1euro_imu_update_accel_mincutoff ( float mincutoff )

Definition at line 250 of file filter_1euro_imu.c.

References accel_1e, Filter1eImu::accel_mincutoff, filter_1e_imu, and OneEuroFilter::mincutoff.

◆ filter_1euro_imu_update_gyro_beta()

void filter_1euro_imu_update_gyro_beta ( float beta )

Definition at line 234 of file filter_1euro_imu.c.

References OneEuroFilter::beta, filter_1e_imu, gyro_1e, and Filter1eImu::gyro_beta.

◆ filter_1euro_imu_update_gyro_dcutoff()

void filter_1euro_imu_update_gyro_dcutoff ( float dcutoff )

Definition at line 242 of file filter_1euro_imu.c.

References OneEuroFilter::dcutoff, filter_1e_imu, gyro_1e, and Filter1eImu::gyro_dcutoff.

◆ filter_1euro_imu_update_gyro_mincutoff()

void filter_1euro_imu_update_gyro_mincutoff ( float mincutoff )

Definition at line 226 of file filter_1euro_imu.c.

References filter_1e_imu, gyro_1e, Filter1eImu::gyro_mincutoff, and OneEuroFilter::mincutoff.

◆ gyro_cb()

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

static

Definition at line 114 of file filter_1euro_imu.c.

References Filter1eImu::enabled, filter_1e_imu, gyro_1e, IMU_F1E_ID, FloatRates::p, FloatRates::q, FloatRates::r, RATES_BFP_OF_REAL, RATES_FLOAT_OF_BFP, update_1e_filter(), and update_1e_filter_at_time().

Referenced by filter_1euro_imu_init().

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◆ mag_cb()

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

static

Definition at line 172 of file filter_1euro_imu.c.

References IMU_F1E_ID.

Referenced by filter_1euro_imu_init().

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Variable Documentation

◆ accel_1e

struct OneEuroFilter accel_1e[3]

static

array of 1 euro filters for accelerometer

Definition at line 96 of file filter_1euro_imu.c.

Referenced by accel_cb(), filter_1euro_imu_init(), filter_1euro_imu_reset(), filter_1euro_imu_update_accel_beta(), filter_1euro_imu_update_accel_dcutoff(), and filter_1euro_imu_update_accel_mincutoff().

◆ accel_ev

abi_event accel_ev

static

Definition at line 111 of file filter_1euro_imu.c.

Referenced by filter_1euro_imu_init().

◆ filter_1e_imu

struct Filter1eImu filter_1e_imu

configuration structure

Definition at line 86 of file filter_1euro_imu.c.

Referenced by accel_cb(), filter_1euro_imu_init(), filter_1euro_imu_reset(), filter_1euro_imu_update_accel_beta(), filter_1euro_imu_update_accel_dcutoff(), filter_1euro_imu_update_accel_mincutoff(), filter_1euro_imu_update_gyro_beta(), filter_1euro_imu_update_gyro_dcutoff(), filter_1euro_imu_update_gyro_mincutoff(), and gyro_cb().

◆ gyro_1e

struct OneEuroFilter gyro_1e[3]

static

array of 1 euro filters for gyrometer

Definition at line 91 of file filter_1euro_imu.c.

Referenced by filter_1euro_imu_init(), filter_1euro_imu_reset(), filter_1euro_imu_update_gyro_beta(), filter_1euro_imu_update_gyro_dcutoff(), filter_1euro_imu_update_gyro_mincutoff(), and gyro_cb().

◆ gyro_ev

abi_event gyro_ev

static

Definition at line 110 of file filter_1euro_imu.c.

Referenced by filter_1euro_imu_init().

◆ mag_ev

abi_event mag_ev

static

Definition at line 112 of file filter_1euro_imu.c.

Referenced by filter_1euro_imu_init().

sw
airborne
modules
imu
filter_1euro_imu.c
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