ahrs_float_mlkf_wrapper.c File Reference

Paparazzi specific wrapper to run MLKF filter. More...

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

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Macros
#define	AHRS_MLKF_OUTPUT_ENABLED   TRUE
#define	AHRS_MLKF_IMU_ID   ABI_BROADCAST
	ABI binding for IMU data. More...
#define	AHRS_MLKF_MAG_ID   AHRS_MLKF_IMU_ID
	ABI binding for magnetometer data. More...

Functions
static void	set_body_state_from_quat (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	geo_mag_cb (uint8_t sender_id, struct FloatVect3 *h)
static bool_t	ahrs_mlkf_enable_output (bool_t enable)
void	ahrs_mlkf_register (void)

Variables
static bool_t	ahrs_mlkf_output_enabled
	if TRUE with push the estimation results to the state interface More...
static uint32_t	ahrs_mlkf_last_stamp
static uint8_t	ahrs_mlkf_id = AHRS_COMP_ID_MLKF
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	geo_mag_ev

Detailed Description

Paparazzi specific wrapper to run MLKF filter.

Definition in file ahrs_float_mlkf_wrapper.c.

Macro Definition Documentation

#define AHRS_MLKF_IMU_ID   ABI_BROADCAST

ABI binding for IMU data.

Used for gyro, accel ABI messages.

Definition at line 91 of file ahrs_float_mlkf_wrapper.c.

Referenced by ahrs_mlkf_register().

#define AHRS_MLKF_MAG_ID   AHRS_MLKF_IMU_ID

ABI binding for magnetometer data.

Used for IMU_MAG_INT32 ABI messages.

Definition at line 98 of file ahrs_float_mlkf_wrapper.c.

Referenced by ahrs_mlkf_register().

#define AHRS_MLKF_OUTPUT_ENABLED   TRUE

Definition at line 34 of file ahrs_float_mlkf_wrapper.c.

Referenced by ahrs_mlkf_register().

Function Documentation

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

static

Definition at line 135 of file ahrs_float_mlkf_wrapper.c.

References ahrs_mlkf, ahrs_mlkf_update_accel(), AhrsMlkf::is_aligned, and set_body_state_from_quat().

Referenced by ahrs_mlkf_register().

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static bool_t ahrs_mlkf_enable_output ( bool_t  enable )

static

Definition at line 179 of file ahrs_float_mlkf_wrapper.c.

References ahrs_mlkf_output_enabled.

Referenced by ahrs_mlkf_register().

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void ahrs_mlkf_register

(

void

)

Definition at line 208 of file ahrs_float_mlkf_wrapper.c.

References ABI_BROADCAST, accel_cb(), accel_ev, ahrs_mlkf_enable_output(), AHRS_MLKF_IMU_ID, ahrs_mlkf_init(), AHRS_MLKF_MAG_ID, AHRS_MLKF_OUTPUT_ENABLED, ahrs_register_impl(), aligner_cb(), aligner_ev, body_to_imu_cb(), body_to_imu_ev, DefaultPeriodic, geo_mag_cb(), geo_mag_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 155 of file ahrs_float_mlkf_wrapper.c.

References ahrs_mlkf, ahrs_mlkf_align(), AhrsMlkf::is_aligned, and set_body_state_from_quat().

Referenced by ahrs_mlkf_register().

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

static

Definition at line 168 of file ahrs_float_mlkf_wrapper.c.

References ahrs_mlkf_set_body_to_imu_quat().

Referenced by ahrs_mlkf_register().

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static void geo_mag_cb ( uint8_t  sender_id, struct FloatVect3 *  h  )

static

Definition at line 174 of file ahrs_float_mlkf_wrapper.c.

References ahrs_mlkf, and AhrsMlkf::mag_h.

Referenced by ahrs_mlkf_register().

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

static

Definition at line 109 of file ahrs_float_mlkf_wrapper.c.

References ahrs_mlkf, ahrs_mlkf_propagate(), AHRS_MLKF_RUNNING, AHRS_PROPAGATE_FREQUENCY, AhrsMlkf::is_aligned, PRINT_CONFIG_MSG(), set_body_state_from_quat(), and AhrsMlkf::status.

Referenced by ahrs_mlkf_register().

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

static

Definition at line 145 of file ahrs_float_mlkf_wrapper.c.

References ahrs_mlkf, ahrs_mlkf_update_mag(), AhrsMlkf::is_aligned, and set_body_state_from_quat().

Referenced by ahrs_mlkf_register().

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static void set_body_state_from_quat ( void  )

static

Compute body orientation and rates from imu orientation and rates.

Definition at line 188 of file ahrs_float_mlkf_wrapper.c.

References ahrs_mlkf, AhrsMlkf::body_to_imu, float_quat_comp_inv(), float_rmat_transp_ratemult(), AhrsMlkf::imu_rate, AhrsMlkf::ltp_to_imu_quat, orientationGetQuat_f(), orientationGetRMat_f(), stateSetBodyRates_f(), and stateSetNedToBodyQuat_f().

Referenced by accel_cb(), aligner_cb(), gyro_cb(), and mag_cb().

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Variable Documentation

abi_event accel_ev

static

Definition at line 102 of file ahrs_float_mlkf_wrapper.c.

Referenced by ahrs_mlkf_register().

uint8_t ahrs_mlkf_id = AHRS_COMP_ID_MLKF

static

Definition at line 41 of file ahrs_float_mlkf_wrapper.c.

uint32_t ahrs_mlkf_last_stamp

static

Definition at line 40 of file ahrs_float_mlkf_wrapper.c.

bool_t ahrs_mlkf_output_enabled

static

if TRUE with push the estimation results to the state interface

Definition at line 39 of file ahrs_float_mlkf_wrapper.c.

Referenced by ahrs_mlkf_enable_output().

abi_event aligner_ev

static

Definition at line 104 of file ahrs_float_mlkf_wrapper.c.

Referenced by ahrs_mlkf_register().

abi_event body_to_imu_ev

static

Definition at line 105 of file ahrs_float_mlkf_wrapper.c.

Referenced by ahrs_mlkf_register().

abi_event geo_mag_ev

static

Definition at line 106 of file ahrs_float_mlkf_wrapper.c.

Referenced by ahrs_mlkf_register().

abi_event gyro_ev

static

Definition at line 101 of file ahrs_float_mlkf_wrapper.c.

Referenced by ahrs_mlkf_register().

abi_event mag_ev

static

Definition at line 103 of file ahrs_float_mlkf_wrapper.c.

Referenced by ahrs_mlkf_register().