ins_ekf2.cpp File Reference

#include "subsystems/ins/ins_ekf2.h"
#include "subsystems/abi.h"
#include "stabilization/stabilization_attitude.h"
#include "generated/airframe.h"
#include "EKF/ekf.h"
#include "math/pprz_isa.h"
#include "mcu_periph/sys_time.h"
#include "autopilot.h"
#include "subsystems/datalink/telemetry.h"

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Data Structures
struct	ekf2_t

Macros
#define	INS_EKF2_AGL_ID   ABI_BROADCAST
	For SITL and NPS we need special includes. More...
#define	INS_SONAR_MIN_RANGE   0.001
	Default AGL sensor minimum range. More...
#define	INS_SONAR_MAX_RANGE   4.0
	Default AGL sensor maximum range. More...
#define	INS_EKF2_BARO_ID   ABI_BROADCAST
	default barometer to use in INS More...
#define	INS_EKF2_GYRO_ID   ABI_BROADCAST
#define	INS_EKF2_ACCEL_ID   ABI_BROADCAST
#define	INS_EKF2_MAG_ID   ABI_BROADCAST
#define	INS_EKF2_GPS_ID   GPS_MULTI_ID

Functions
static void	agl_cb (uint8_t sender_id, uint32_t stamp, float distance)
static void	baro_cb (uint8_t sender_id, uint32_t stamp, float pressure)
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	gps_cb (uint8_t sender_id, uint32_t stamp, struct GpsState *gps_s)
static void	body_to_imu_cb (uint8_t sender_id, struct FloatQuat *q_b2i_f)
static void	ins_ekf2_publish_attitude (uint32_t stamp)
	Publish the attitude and get the new state Directly called after a succeslfull gyro+accel reading. More...
static void	send_ins_ref (struct transport_tx *trans, struct link_device *dev)
static void	send_ins_ekf2 (struct transport_tx *trans, struct link_device *dev)
static void	send_ins_ekf2_ext (struct transport_tx *trans, struct link_device *dev)
static void	send_filter_status (struct transport_tx *trans, struct link_device *dev)
static void	send_wind_info_ret (struct transport_tx *trans, struct link_device *dev)
static void	send_ahrs_bias (struct transport_tx *trans, struct link_device *dev)
void	ins_ekf2_init (void)
void	ins_ekf2_update (void)
void	ins_ekf2_change_param (int32_t unk)

Variables
static abi_event	agl_ev
static abi_event	baro_ev
static abi_event	gyro_ev
static abi_event	accel_ev
static abi_event	mag_ev
static abi_event	gps_ev
static abi_event	body_to_imu_ev
struct gps_message	gps_msg = {}
static Ekf	ekf
	EKF class itself. More...
static parameters *	ekf_params
	The EKF parameters. More...
struct ekf2_t	ekf2
	Local EKF2 status structure. More...
static uint8_t	ahrs_ekf2_id = AHRS_COMP_ID_EKF2
	Component ID for EKF. More...
struct ekf2_parameters_t	ekf2_params

Detailed Description

INS based in the EKF2 of PX4

Definition in file ins_ekf2.cpp.

---

Data Structure Documentation

ekf2_t

struct ekf2_t

Definition at line 121 of file ins_ekf2.cpp.

Collaboration diagram for ekf2_t:

Data Fields
FloatVect3	accel
uint32_t	accel_dt
uint32_t	accel_stamp
bool	accel_valid
struct OrientationReps	body_to_imu
bool	got_imu_data
FloatRates	gyro
uint32_t	gyro_dt
uint32_t	gyro_stamp
bool	gyro_valid
struct LtpDef_i	ltp_def
uint64_t	ltp_stamp
uint8_t	quat_reset_counter

Macro Definition Documentation

INS_EKF2_ACCEL_ID

#define INS_EKF2_ACCEL_ID   ABI_BROADCAST

Definition at line 85 of file ins_ekf2.cpp.

INS_EKF2_AGL_ID

#define INS_EKF2_AGL_ID   ABI_BROADCAST

For SITL and NPS we need special includes.

Prevent setting INS reference from flight plan default AGL sensor to use in INS

Definition at line 51 of file ins_ekf2.cpp.

INS_EKF2_BARO_ID

#define INS_EKF2_BARO_ID   ABI_BROADCAST

default barometer to use in INS

Definition at line 72 of file ins_ekf2.cpp.

INS_EKF2_GPS_ID

#define INS_EKF2_GPS_ID   GPS_MULTI_ID

Definition at line 97 of file ins_ekf2.cpp.

INS_EKF2_GYRO_ID

#define INS_EKF2_GYRO_ID   ABI_BROADCAST

Definition at line 79 of file ins_ekf2.cpp.

INS_EKF2_MAG_ID

#define INS_EKF2_MAG_ID   ABI_BROADCAST

Definition at line 91 of file ins_ekf2.cpp.

INS_SONAR_MAX_RANGE

#define INS_SONAR_MAX_RANGE   4.0

Default AGL sensor maximum range.

Definition at line 63 of file ins_ekf2.cpp.

INS_SONAR_MIN_RANGE

#define INS_SONAR_MIN_RANGE   0.001

Default AGL sensor minimum range.

Definition at line 57 of file ins_ekf2.cpp.

Function Documentation

accel_cb()

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

static

Definition at line 491 of file ins_ekf2.cpp.

References ekf2_t::accel, ekf2_t::accel_dt, ekf2_t::accel_stamp, ekf2_t::accel_valid, ACCELS_FLOAT_OF_BFP, ekf2_t::body_to_imu, ekf2, float_rmat_transp_vmult(), ekf2_t::gyro_valid, ins_ekf2_publish_attitude(), and orientationGetRMat_f().

Referenced by ins_ekf2_init().

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agl_cb()

static void agl_cb ( uint8_t  sender_id, uint32_t  stamp, float  distance  )

static

Definition at line 459 of file ins_ekf2.cpp.

References ekf.

Referenced by ins_ekf2_init().

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baro_cb()

static void baro_cb ( uint8_t  sender_id, uint32_t  stamp, float  pressure  )

static

Definition at line 445 of file ins_ekf2.cpp.

References ekf, f, pprz_isa_density_of_pressure(), and pprz_isa_height_of_pressure_full().

Referenced by ins_ekf2_init().

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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 570 of file ins_ekf2.cpp.

References ekf2_t::body_to_imu, ekf2, and orientationSetQuat_f().

Referenced by ins_ekf2_init().

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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 544 of file ins_ekf2.cpp.

References ekf, GpsState::fix, gps_msg, GPS_VALID_VEL_NED_BIT, GpsState::gspeed, GpsState::hacc, GpsState::hmsl, LlaCoor_i::lat, GpsState::lla_pos, LlaCoor_i::lon, GpsState::ned_vel, GpsState::num_sv, GpsState::sacc, GpsState::vacc, GpsState::valid_fields, NedCoor_i::x, NedCoor_i::y, and NedCoor_i::z.

Referenced by ins_ekf2_init().

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gyro_cb()

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

static

Definition at line 465 of file ins_ekf2.cpp.

References ekf2_t::accel_valid, ekf2_t::body_to_imu, ekf2, float_rmat_transp_ratemult(), ekf2_t::gyro, ekf2_t::gyro_dt, ekf2_t::gyro_stamp, ekf2_t::gyro_valid, ins_ekf2_publish_attitude(), orientationGetRMat_f(), and RATES_FLOAT_OF_BFP.

Referenced by ins_ekf2_init().

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ins_ekf2_change_param()

void ins_ekf2_change_param

(

int32_t

unk

)

Definition at line 364 of file ins_ekf2.cpp.

References ekf2_params, ekf_params, and ekf2_parameters_t::mag_fusion_type.

ins_ekf2_init()

void ins_ekf2_init

(

void

)

Definition at line 248 of file ins_ekf2.cpp.

References ABI_BROADCAST, accel_cb(), accel_ev, ekf2_t::accel_stamp, ekf2_t::accel_valid, agl_cb(), agl_ev, baro_cb(), baro_ev, body_to_imu_cb(), body_to_imu_ev, DefaultPeriodic, ekf, ekf2, ekf_params, ekf2_t::got_imu_data, gps_cb(), gps_ev, gyro_cb(), gyro_ev, ekf2_t::gyro_stamp, ekf2_t::gyro_valid, INS_EKF2_ACCEL_ID, INS_EKF2_AGL_ID, INS_EKF2_BARO_ID, INS_EKF2_GPS_ID, INS_EKF2_GYRO_ID, INS_EKF2_MAG_ID, INS_SONAR_MAX_RANGE, INS_SONAR_MIN_RANGE, ekf2_t::ltp_stamp, mag_cb(), mag_ev, ekf2_t::quat_reset_counter, register_periodic_telemetry(), send_ahrs_bias(), send_filter_status(), send_ins_ekf2(), send_ins_ekf2_ext(), send_ins_ref(), and send_wind_info_ret().

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ins_ekf2_publish_attitude()

static void ins_ekf2_publish_attitude ( uint32_t  stamp )

static

Publish the attitude and get the new state Directly called after a succeslfull gyro+accel reading.

Definition at line 371 of file ins_ekf2.cpp.

References ekf2_t::accel, ACCEL_BFP_OF_REAL, ekf2_t::accel_dt, ekf2_t::accel_valid, ANGLE_BFP_OF_REAL, autopilot_in_flight(), ekf, ekf2, f, ekf2_t::got_imu_data, guidance_h, guidance_h_read_rc(), ekf2_t::gyro, ekf2_t::gyro_dt, ekf2_t::gyro_valid, HorizontalGuidanceSetpoint::heading, nav_heading, FloatRates::p, FloatEulers::psi, FloatRates::q, FloatQuat::qi, ekf2_t::quat_reset_counter, FloatQuat::qx, FloatQuat::qy, FloatQuat::qz, FloatRates::r, HorizontalGuidance::rc_sp, HorizontalGuidance::sp, stab_att_sp_euler, stabilization_attitude_enter(), stateSetAccelBody_i(), stateSetBodyRates_f(), stateSetNedToBodyQuat_f(), FloatVect3::x, Int32Vect3::x, FloatVect3::y, Int32Vect3::y, FloatVect3::z, and Int32Vect3::z.

Referenced by accel_cb(), and gyro_cb().

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ins_ekf2_update()

void ins_ekf2_update

(

void

)

Definition at line 289 of file ins_ekf2.cpp.

References LlaCoor_i::alt, autopilot_in_flight(), ekf, ekf2, ekf2_t::got_imu_data, LlaCoor_i::lat, LlaCoor_i::lon, ekf2_t::ltp_def, ltp_def_from_lla_i(), ekf2_t::ltp_stamp, nps_bypass_ins, sim_overwrite_ins(), stateSetAccelNed_f(), stateSetLocalOrigin_i(), stateSetPositionNed_f(), stateSetSpeedNed_f(), NedCoor_f::x, NedCoor_f::y, and NedCoor_f::z.

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mag_cb()

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

static

Definition at line 517 of file ins_ekf2.cpp.

References ekf2_t::body_to_imu, ekf, ekf2, float_rmat_transp_vmult(), ekf2_t::got_imu_data, MAGS_FLOAT_OF_BFP, orientationGetRMat_f(), FloatVect3::x, FloatVect3::y, and FloatVect3::z.

Referenced by ins_ekf2_init().

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send_ahrs_bias()

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

static

Definition at line 235 of file ins_ekf2.cpp.

References dev, ekf, and states.

Referenced by ins_ekf2_init().

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send_filter_status()

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

static

Definition at line 198 of file ins_ekf2.cpp.

References ahrs_ekf2_id, dev, and ekf.

Referenced by ins_ekf2_init().

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send_ins_ekf2()

static void send_ins_ekf2 ( struct transport_tx *  trans, struct link_device *  dev  )

static

Definition at line 165 of file ins_ekf2.cpp.

References dev, and ekf.

Referenced by ins_ekf2_init().

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send_ins_ekf2_ext()

static void send_ins_ekf2_ext ( struct transport_tx *  trans, struct link_device *  dev  )

static

Definition at line 184 of file ins_ekf2.cpp.

References dev, and ekf.

Referenced by ins_ekf2_init().

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send_ins_ref()

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

static

Definition at line 155 of file ins_ekf2.cpp.

References LlaCoor_i::alt, dev, LtpDef_i::ecef, ekf2, LtpDef_i::hmsl, LlaCoor_i::lat, LtpDef_i::lla, LlaCoor_i::lon, ekf2_t::ltp_def, ekf2_t::ltp_stamp, EcefCoor_i::x, EcefCoor_i::y, and EcefCoor_i::z.

Referenced by ins_ekf2_init().

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send_wind_info_ret()

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

static

Definition at line 223 of file ins_ekf2.cpp.

References dev, and ekf.

Referenced by ins_ekf2_init().

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Variable Documentation

accel_ev

abi_event accel_ev

static

Definition at line 105 of file ins_ekf2.cpp.

Referenced by ins_ekf2_init().

agl_ev

abi_event agl_ev

static

Definition at line 102 of file ins_ekf2.cpp.

Referenced by ins_ekf2_init().

ahrs_ekf2_id

uint8_t ahrs_ekf2_id = AHRS_COMP_ID_EKF2

static

Component ID for EKF.

Definition at line 147 of file ins_ekf2.cpp.

Referenced by send_filter_status().

baro_ev

abi_event baro_ev

static

Definition at line 103 of file ins_ekf2.cpp.

Referenced by ins_ekf2_init().

body_to_imu_ev

abi_event body_to_imu_ev

static

Definition at line 108 of file ins_ekf2.cpp.

Referenced by ins_ekf2_init().

ekf

Ekf ekf

static

EKF class itself.

Definition at line 144 of file ins_ekf2.cpp.

Referenced by agl_cb(), baro_cb(), gps_cb(), ins_ekf2_init(), ins_ekf2_publish_attitude(), ins_ekf2_update(), mag_cb(), send_ahrs_bias(), send_filter_status(), send_ins_ekf2(), send_ins_ekf2_ext(), and send_wind_info_ret().

ekf2

struct ekf2_t ekf2

Local EKF2 status structure.

Definition at line 146 of file ins_ekf2.cpp.

Referenced by accel_cb(), body_to_imu_cb(), gyro_cb(), ins_ekf2_init(), ins_ekf2_publish_attitude(), ins_ekf2_update(), mag_cb(), and send_ins_ref().

ekf2_params

struct ekf2_parameters_t ekf2_params

Definition at line 150 of file ins_ekf2.cpp.

Referenced by ins_ekf2_change_param().

ekf_params

parameters* ekf_params

static

The EKF parameters.

Definition at line 145 of file ins_ekf2.cpp.

Referenced by ins_ekf2_change_param(), and ins_ekf2_init().

gps_ev

abi_event gps_ev

static

Definition at line 107 of file ins_ekf2.cpp.

Referenced by ins_ekf2_init().

gps_msg

struct gps_message gps_msg = {}

Definition at line 109 of file ins_ekf2.cpp.

Referenced by gps_cb().

gyro_ev

abi_event gyro_ev

static

Definition at line 104 of file ins_ekf2.cpp.

Referenced by ins_ekf2_init().

mag_ev

abi_event mag_ev

static

Definition at line 106 of file ins_ekf2.cpp.

Referenced by ins_ekf2_init().