ins_skeleton.h File Reference

#include "std.h"
#include "math/pprz_geodetic_int.h"
#include "math/pprz_algebra_int.h"
#include "math/pprz_orientation_conversion.h"
#include "subsystems/ins.h"
#include "subsystems/gps.h"

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Data Structures
struct	InsModuleInt
	Ins implementation state (fixed point) More...

Functions
void	ins_module_wrapper_init (void)
void	ins_module_init (void)
void	ins_module_propagate (struct Int32Vect3 *accel, float dt)
void	ins_module_update_gps (struct GpsState *gps_s, float dt)
void	ins_module_update_baro (float pressure)
void	ins_module_reset_local_origin (void)

Variables
struct InsModuleInt	ins_module
	global INS state More...

Detailed Description

Paparazzi specific wrapper to run simple module based INS.

Definition in file ins_skeleton.h.

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Data Structure Documentation

InsModuleInt

struct InsModuleInt

Ins implementation state (fixed point)

Definition at line 40 of file ins_skeleton.h.

Collaboration diagram for InsModuleInt:

Data Fields
struct OrientationReps	body_to_imu	body_to_imu rotation
struct GpsState	gps	internal copy of last GPS message
struct NedCoor_i	ltp_accel
struct LtpDef_i	ltp_def
bool	ltp_initialized
struct NedCoor_i	ltp_pos	position in m in BFP with INT32_POS_FRAC
struct NedCoor_i	ltp_speed	velocity in m/s in BFP with INT32_SPEED_FRAC

Function Documentation

ins_module_init()

void ins_module_init

(

void

)

Definition at line 149 of file ins_skeleton.c.

Referenced by ins_module_wrapper_init().

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ins_module_propagate()

void ins_module_propagate	(	struct Int32Vect3 *	accel,
		float	dt
	)

Definition at line 185 of file ins_skeleton.c.

References InsModuleInt::body_to_imu, ins_module, int32_rmat_transp_vmult(), InsModuleInt::ltp_accel, orientationGetRMat_i(), stateGetNedToBodyRMat_i(), stateSetAccelBody_i(), and VECT3_COPY.

Referenced by accel_cb().

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ins_module_reset_local_origin()

void ins_module_reset_local_origin

(

void

)

Definition at line 198 of file ins_skeleton.c.

Referenced by ins_reset_local_origin().

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ins_module_update_baro()

void ins_module_update_baro

(

float

pressure

)

Definition at line 153 of file ins_skeleton.c.

Referenced by baro_cb().

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ins_module_update_gps()

void ins_module_update_gps	(	struct GpsState *	gps_s,
		float	dt
	)

Definition at line 157 of file ins_skeleton.c.

References GpsState::ecef_pos, GpsState::ecef_vel, GPS_VALID_POS_ECEF_BIT, GPS_VALID_VEL_ECEF_BIT, GPS_VALID_VEL_NED_BIT, ins_module, INT32_POS_OF_CM_DEN, INT32_POS_OF_CM_NUM, INT32_SPEED_OF_CM_S_DEN, INT32_SPEED_OF_CM_S_NUM, INT32_VECT3_SCALE_2, InsModuleInt::ltp_def, InsModuleInt::ltp_pos, InsModuleInt::ltp_speed, ned_of_ecef_point_i(), ned_of_ecef_vect_i(), GpsState::ned_vel, and GpsState::valid_fields.

Referenced by gps_cb().

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ins_module_wrapper_init()

void ins_module_wrapper_init

(

void

)

Definition at line 223 of file ins_skeleton.c.

References accel_cb(), accel_ev, baro_cb(), baro_ev, body_to_imu_cb(), body_to_imu_ev, gps_cb(), gps_ev, ins_init_origin_i_from_flightplan(), ins_module, INS_MODULE_BARO_ID, INS_MODULE_GPS_ID, INS_MODULE_IMU_ID, ins_module_init(), INT32_VECT3_ZERO, InsModuleInt::ltp_accel, InsModuleInt::ltp_def, InsModuleInt::ltp_initialized, InsModuleInt::ltp_pos, and InsModuleInt::ltp_speed.

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Variable Documentation

ins_module

struct InsModuleInt ins_module

global INS state

Definition at line 71 of file ins_skeleton.c.

Referenced by body_to_imu_cb(), gps_cb(), ins_module_propagate(), ins_module_update_gps(), ins_module_wrapper_init(), ins_ned_to_state(), and ins_reset_local_origin().