ins_ekf2 module

simple INS and AHRS using EKF2 from PX4

No detailed description...

Example for airframe file

Add to your firmware section:

<module name="ins_ekf2"/>

Module functions

Init Functions

These initialization functions are called once on startup.

• ins_ekf2_init()

Periodic Functions

These functions are called periodically at the specified frequency from the module periodic loop.

• ins_ekf2_update()
  • Running at maximum module frequency.
  • Autorun: TRUE
    Periodic function automatically starts after init.

Files

Header Files

The following headers are automatically included in modules.h

• ins_ekf2.h

Source Files

• subsystems/ins.c
• subsystems/ins/ins_ekf2.cpp
• ecl/mathlib/mathlib.cpp
• ecl/geo/geo.cpp
• ecl/geo_lookup/geo_mag_declination.cpp
• ecl/EKF/airspeed_fusion.cpp
• ecl/EKF/control.cpp
• ecl/EKF/covariance.cpp
• ecl/EKF/drag_fusion.cpp
• ecl/EKF/ekf.cpp
• ecl/EKF/ekf_helper.cpp
• ecl/EKF/estimator_interface.cpp
• ecl/EKF/gps_checks.cpp
• ecl/EKF/mag_fusion.cpp
• ecl/EKF/optflow_fusion.cpp
• ecl/EKF/sideslip_fusion.cpp
• ecl/EKF/terrain_estimator.cpp
• ecl/EKF/vel_pos_fusion.cpp
• ecl/EKF/gps_yaw_fusion.cpp

Raw ins_ekf2.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="ins_ekf2" dir="ins">
  <doc>
    <description>
      simple INS and AHRS using EKF2 from PX4
    </description>
  </doc>
  <settings>
  <dl_settings NAME="INS">
      <!-- EKF2 Configuration parameters -->
      <dl_settings name="ekf2">
        <dl_setting var="ekf2_params.mag_fusion_type" min="0" step="1" max="5" shortname="mag_fusion" values="AUTO|HEADING|3D|AUTOFW|INDOOR|NONE" module="subsystems/ins/ins_ekf2" handler="change_param"/>
      </dl_settings>
    </dl_settings>
  </settings>
  <header>
    <file name="ins_ekf2.h" dir="subsystems/ins"/>
  </header>
  <init fun="ins_ekf2_init()"/>
  <periodic fun="ins_ekf2_update()" autorun="TRUE"/>
  <makefile target="ap|nps">
    <configure name="CXXSTANDARD" value="-std=c++11"/>
 
    <!-- EKF2 files -->
    <define name="INS_TYPE_H" value="subsystems/ins/ins_ekf2.h" type="string"/>
    <file name="ins.c" dir="subsystems"/>
    <file name="ins_ekf2.cpp" dir="subsystems/ins"/>
 
    <!-- Include the ecl and matrix libraries from ext -->
    <include name="$(PAPARAZZI_SRC)/sw/ext/ecl/"/>
    <include name="$(PAPARAZZI_SRC)/sw/ext/matrix/"/>
    <define name="__PAPARAZZI" value="true"/>
    <define name="ECL_STANDALONE" value="true"/>
    <define name="USE_MAGNETOMETER" value="true"/> <!-- Needed for IMU to get scaled version -->
 
    <!-- Compile needed ecl files -->
    <file name="mathlib.cpp" dir="ecl/mathlib"/>
    <file name="geo.cpp" dir="ecl/geo"/>
    <file name="geo_mag_declination.cpp" dir="ecl/geo_lookup"/>
    <file name="airspeed_fusion.cpp" dir="ecl/EKF"/>
    <file name="control.cpp" dir="ecl/EKF"/>
    <file name="covariance.cpp" dir="ecl/EKF"/>
    <file name="drag_fusion.cpp" dir="ecl/EKF"/>
    <file name="ekf.cpp" dir="ecl/EKF"/>
    <file name="ekf_helper.cpp" dir="ecl/EKF"/>
    <file name="estimator_interface.cpp" dir="ecl/EKF"/>
    <file name="gps_checks.cpp" dir="ecl/EKF"/>
    <file name="mag_fusion.cpp" dir="ecl/EKF"/>
    <file name="optflow_fusion.cpp" dir="ecl/EKF"/>
    <file name="sideslip_fusion.cpp" dir="ecl/EKF"/>
    <file name="terrain_estimator.cpp" dir="ecl/EKF"/>
    <file name="vel_pos_fusion.cpp" dir="ecl/EKF"/>
    <file name="gps_yaw_fusion.cpp" dir="ecl/EKF"/>
  </makefile>
</module>