ins_int.h File Reference

INS for rotorcrafts combining vertical and horizontal filters. More...

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

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

Macros
#define	DefaultInsImpl   ins_int

Functions
void	ins_int_init (void)
void	ins_int_propagate (struct Int32Vect3 *accel, float dt)
void	ins_int_update_gps (struct GpsState *gps_s)
void	ins_int_register (void)

Variables
struct InsInt	ins_int
	global INS state More...

Detailed Description

INS for rotorcrafts combining vertical and horizontal filters.

Definition in file ins_int.h.

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Data Structure Documentation

struct InsInt

Ins implementation state (fixed point)

Definition at line 39 of file ins_int.h.

Collaboration diagram for InsInt:

Data Fields
bool_t	baro_initialized
float	baro_z	z-position calculated from baro in meters (z-down)
bool_t	hf_realign	request to realign horizontal filter. Sets to current position (local origin unchanged).
struct NedCoor_i	ltp_accel
struct LtpDef_i	ltp_def
bool_t	ltp_initialized
struct NedCoor_i	ltp_pos
struct NedCoor_i	ltp_speed
uint32_t	propagation_cnt	number of propagation steps since the last measurement update
float	qfe
bool_t	vf_reset	request to reset vertical filter. Sets the z-position to zero and resets the the z-reference to current altitude.

Macro Definition Documentation

#define DefaultInsImpl   ins_int

Definition at line 79 of file ins_int.h.

Function Documentation

void ins_int_init

(

void

)

Definition at line 184 of file ins_int.c.

References b2_hff_init(), baro_cb(), InsInt::baro_initialized, DefaultPeriodic, FALSE, InsInt::hf_realign, INS_BARO_ID, ins_init_origin_from_flightplan(), ins_int, INS_MAX_PROPAGATION_STEPS, INT32_VECT3_ZERO, InsInt::ltp_accel, InsInt::ltp_initialized, InsInt::ltp_pos, InsInt::ltp_speed, InsInt::propagation_cnt, register_periodic_telemetry(), sonar_cb(), TRUE, InsInt::vf_reset, and vff_init_zero().

Referenced by ins_int_register().

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void ins_int_propagate	(	struct Int32Vect3 *	accel,
		float	dt
	)

Definition at line 264 of file ins_int.c.

References ACCEL_BFP_OF_REAL, ACCEL_FLOAT_OF_BFP, b2_hff_propagate(), Imu::body_to_imu, imu, ins_int, INS_MAX_PROPAGATION_STEPS, ins_ned_to_state(), ins_update_from_vff(), int32_rmat_transp_vmult(), InsInt::ltp_accel, orientationGetRMat_i(), InsInt::propagation_cnt, stateGetNedToBodyRMat_i(), vff_propagate(), NedCoor_i::x, Int32Vect3::x, NedCoor_i::y, Int32Vect3::y, NedCoor_i::z, and Int32Vect3::z.

Referenced by accel_cb().

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void ins_int_register

(

void

)

Definition at line 549 of file ins_int.c.

References ABI_BROADCAST, accel_cb(), gps_cb(), INS_INT_IMU_ID, ins_int_init(), INS_INT_VEL_ID, ins_register_impl(), and vel_est_cb().

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void ins_int_update_gps

(

struct GpsState *

gps_s

)

Todo:

maybe use gps_s->ned_vel directly??

Definition at line 338 of file ins_int.c.

References b2_hff_realign(), b2_hff_update_gps(), GpsState::ecef_pos, GpsState::ecef_vel, FALSE, GpsState::fix, GPS_FIX_3D, InsInt::hf_realign, ins_int, ins_ned_to_state(), ins_reset_local_origin(), INS_VFF_R_GPS, INT32_POS_OF_CM_DEN, INT32_POS_OF_CM_NUM, int32_quat_vmult(), INT32_SPEED_OF_CM_S_DEN, INT32_SPEED_OF_CM_S_NUM, INT32_VECT2_SCALE_2, InsInt::ltp_def, InsInt::ltp_initialized, InsInt::ltp_pos, InsInt::ltp_speed, ned_of_ecef_point_i(), ned_of_ecef_vect_i(), InsInt::propagation_cnt, QUAT_INVERT, stateGetNedToBodyQuat_i(), VECT2_ASSIGN, VECT2_SDIV, VECT3_SUB, vff_update_z_conf(), NedCoor_i::x, Int32Vect3::x, NedCoor_i::y, and NedCoor_i::z.

Referenced by gps_cb().

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Variable Documentation

struct InsInt ins_int

global INS state

Definition at line 146 of file ins_int.c.

Referenced by baro_cb(), ins_init_origin_from_flightplan(), ins_int_init(), ins_int_propagate(), ins_int_update_gps(), ins_ned_to_state(), ins_reset_altitude_ref(), ins_reset_local_origin(), ins_update_from_vff(), and vel_est_cb().