ahrs_float_dcm_wrapper.c File Reference

Paparazzi specific wrapper to run floating point complementary filter. More...

#include "subsystems/ahrs/ahrs_float_dcm_wrapper.h"
#include "subsystems/ahrs.h"
#include "subsystems/abi.h"
#include "state.h"

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Macros
#define	AHRS_DCM_OUTPUT_ENABLED   TRUE
#define	AHRS_DCM_IMU_ID   ABI_BROADCAST
	ABI binding for IMU data. More...
#define	AHRS_DCM_MAG_ID   AHRS_DCM_IMU_ID
	ABI binding for magnetometer data. More...

Functions
static void	set_body_orientation_and_rates (void)
	Compute body orientation and rates from imu orientation and rates. More...
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	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	gps_cb (uint8_t sender_id, uint32_t stamp, struct GpsState *gps_s)
static bool_t	ahrs_dcm_enable_output (bool_t enable)
void	ahrs_dcm_register (void)

Variables
static bool_t	ahrs_dcm_output_enabled
	if TRUE with push the estimation results to the state interface More...
static uint32_t	ahrs_dcm_last_stamp
static uint8_t	ahrs_dcm_id = AHRS_COMP_ID_DCM
static abi_event	gyro_ev
static abi_event	accel_ev
static abi_event	mag_ev
static abi_event	aligner_ev
static abi_event	body_to_imu_ev
static abi_event	gps_ev

Detailed Description

Paparazzi specific wrapper to run floating point complementary filter.

Definition in file ahrs_float_dcm_wrapper.c.

Macro Definition Documentation

#define AHRS_DCM_IMU_ID   ABI_BROADCAST

ABI binding for IMU data.

Used for gyro and accel ABI messages.

Definition at line 64 of file ahrs_float_dcm_wrapper.c.

Referenced by ahrs_dcm_register().

#define AHRS_DCM_MAG_ID   AHRS_DCM_IMU_ID

ABI binding for magnetometer data.

Used for IMU_MAG_INT32 ABI messages.

Definition at line 71 of file ahrs_float_dcm_wrapper.c.

Referenced by ahrs_dcm_register().

#define AHRS_DCM_OUTPUT_ENABLED   TRUE

Definition at line 33 of file ahrs_float_dcm_wrapper.c.

Referenced by ahrs_dcm_register().

Function Documentation

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

static

Definition at line 107 of file ahrs_float_dcm_wrapper.c.

References ahrs_dcm, ahrs_dcm_update_accel(), and AhrsFloatDCM::is_aligned.

Referenced by ahrs_dcm_register().

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static bool_t ahrs_dcm_enable_output ( bool_t  enable )

static

Definition at line 150 of file ahrs_float_dcm_wrapper.c.

References ahrs_dcm_output_enabled.

Referenced by ahrs_dcm_register().

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void ahrs_dcm_register

(

void

)

Definition at line 176 of file ahrs_float_dcm_wrapper.c.

References ABI_BROADCAST, accel_cb(), accel_ev, ahrs_dcm_enable_output(), AHRS_DCM_IMU_ID, ahrs_dcm_init(), AHRS_DCM_MAG_ID, AHRS_DCM_OUTPUT_ENABLED, ahrs_register_impl(), aligner_cb(), aligner_ev, body_to_imu_cb(), body_to_imu_ev, DefaultPeriodic, gps_cb(), gps_ev, gyro_cb(), gyro_ev, mag_cb(), mag_ev, and register_periodic_telemetry().

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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 125 of file ahrs_float_dcm_wrapper.c.

References ahrs_dcm, ahrs_dcm_align(), AhrsFloatDCM::is_aligned, and set_body_orientation_and_rates().

Referenced by ahrs_dcm_register().

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static void body_to_imu_cb ( uint8_t  sender_id, struct FloatQuat *  q_b2i_f  )

static

Definition at line 137 of file ahrs_float_dcm_wrapper.c.

References ahrs_dcm_set_body_to_imu_quat().

Referenced by ahrs_dcm_register().

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static void gps_cb ( uint8_t  sender_id, uint32_t  stamp, struct GpsState *  gps_s  )

static

Definition at line 143 of file ahrs_float_dcm_wrapper.c.

References ahrs_dcm_update_gps().

Referenced by ahrs_dcm_register().

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

static

Definition at line 82 of file ahrs_float_dcm_wrapper.c.

References ahrs_dcm, ahrs_dcm_propagate(), AHRS_PROPAGATE_FREQUENCY, AhrsFloatDCM::is_aligned, PRINT_CONFIG_MSG(), and set_body_orientation_and_rates().

Referenced by ahrs_dcm_register().

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

static

Definition at line 116 of file ahrs_float_dcm_wrapper.c.

References ahrs_dcm, ahrs_dcm_update_mag(), and AhrsFloatDCM::is_aligned.

Referenced by ahrs_dcm_register().

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static void set_body_orientation_and_rates ( void  )

static

Compute body orientation and rates from imu orientation and rates.

Definition at line 159 of file ahrs_float_dcm_wrapper.c.

References ahrs_dcm, AhrsFloatDCM::body_to_imu, float_rmat_comp_inv(), float_rmat_of_eulers, float_rmat_transp_ratemult(), AhrsFloatDCM::imu_rate, AhrsFloatDCM::ltp_to_imu_euler, orientationGetRMat_f(), stateSetBodyRates_f(), and stateSetNedToBodyRMat_f().

Referenced by aligner_cb(), and gyro_cb().

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Variable Documentation

abi_event accel_ev

static

Definition at line 75 of file ahrs_float_dcm_wrapper.c.

Referenced by ahrs_dcm_register().

uint8_t ahrs_dcm_id = AHRS_COMP_ID_DCM

static

Definition at line 40 of file ahrs_float_dcm_wrapper.c.

uint32_t ahrs_dcm_last_stamp

static

Definition at line 39 of file ahrs_float_dcm_wrapper.c.

bool_t ahrs_dcm_output_enabled

static

if TRUE with push the estimation results to the state interface

Definition at line 38 of file ahrs_float_dcm_wrapper.c.

Referenced by ahrs_dcm_enable_output().

abi_event aligner_ev

static

Definition at line 77 of file ahrs_float_dcm_wrapper.c.

Referenced by ahrs_dcm_register().

abi_event body_to_imu_ev

static

Definition at line 78 of file ahrs_float_dcm_wrapper.c.

Referenced by ahrs_dcm_register().

abi_event gps_ev

static

Definition at line 79 of file ahrs_float_dcm_wrapper.c.

Referenced by ahrs_dcm_register().

abi_event gyro_ev

static

Definition at line 74 of file ahrs_float_dcm_wrapper.c.

Referenced by ahrs_dcm_register().

abi_event mag_ev

static

Definition at line 76 of file ahrs_float_dcm_wrapper.c.

Referenced by ahrs_dcm_register().