[dox] add/fix doxygen file blocks for ahrs/ins subsystems

2026-06-07 00:53:41 +08:00 · 2013-01-18 18:07:40 +01:00
parent 930a3bb655
commit 82e4f5dc46
40 changed files with 884 additions and 578 deletions
@@ -19,6 +19,12 @@
 * Boston, MA 02111-1307, USA.
 */

+/**
+ * @file subsystems/ahrs.c
+ * Attitude and Heading Reference System interface.
+ */
+
+
 #include "subsystems/ahrs.h"

 struct Ahrs ahrs;
@@ -19,8 +19,9 @@
 * Boston, MA 02111-1307, USA.
 */

-/** \file ahrs.h
- * \brief Attitude and Heading Reference System interface
+/**
+ * @file subsystems/ahrs.h
+ * Attitude and Heading Reference System interface.
 */

 #ifndef AHRS_H
@@ -19,6 +19,13 @@
 * Boston, MA 02111-1307, USA.
 */

+/**
+ * @file subsystems/ahrs/ahrs_aligner.c
+ *
+ * Low-pass IMU measurements at startup to align the AHRS.
+ *
+ */
+
 #include "ahrs_aligner.h"

 #include <stdlib.h> /* for abs() */
@@ -19,6 +19,13 @@
 * Boston, MA 02111-1307, USA.
 */

+/**
+ * @file subsystems/ahrs/ahrs_aligner.h
+ *
+ * Interface to align the AHRS via low-passed measurements at startup.
+ *
+ */
+
 #ifndef AHRS_ALIGNER_H
 #define AHRS_ALIGNER_H

@@ -19,6 +19,14 @@
 * Boston, MA 02111-1307, USA.
 */

+/**
+ * @file subsystems/ahrs/ahrs_float_cmpl.c
+ *
+ * Complementary filter in float to estimate the attitude, heading and gyro bias.
+ *
+ * Propagation can be done in rotation matrix or quaternion representation.
+ */
+
 #include "subsystems/ahrs.h"
 #include "subsystems/ahrs/ahrs_float_cmpl.h"
 #include "subsystems/ahrs/ahrs_float_utils.h"
@@ -19,6 +19,14 @@
 * Boston, MA 02111-1307, USA.
 */

+/**
+ * @file subsystems/ahrs/ahrs_float_cmpl.h
+ *
+ * Complementary filter in float to estimate the attitude, heading and gyro bias.
+ *
+ * Propagation can be done in rotation matrix or quaternion representation.
+ */
+
 #ifndef AHRS_FLOAT_CMPL
 #define AHRS_FLOAT_CMPL

@@ -12,14 +12,17 @@
 *
 */

-/** \file ahrs_float_dcm.c
- *  \brief Attitude estimation for fixedwings based on the DCM
- *  Theory: http://code.google.com/p/gentlenav/downloads/list  file DCMDraft2.pdf
+/**
+ * @file subsystems/ahrs/ahrs_float_dcm.c
 *
- *  Options:
- *  -USE_HIGH_ACCEL_FLAG: no compensation when high accelerations present
- *  -USE_MAGNETOMETER_ONGROUND: use magnetic compensation before takeoff only while GPS course not good
- *  -USE_AHRS_GPS_ACCELERATIONS: forward acceleration compensation from GPS speed
+ * Attitude estimation for fixedwings based on the DCM.
+ *
+ * Theory: http://code.google.com/p/gentlenav/downloads/list  file DCMDraft2.pdf
+ *
+ * Options:
+ *  - USE_HIGH_ACCEL_FLAG: no compensation when high accelerations present
+ *  - USE_MAGNETOMETER_ONGROUND: use magnetic compensation before takeoff only while GPS course not good
+ *  - USE_AHRS_GPS_ACCELERATIONS: forward acceleration compensation from GPS speed
 *
 */

@@ -12,9 +12,12 @@
 *
 */

-/** \file ahrs_float_dcm.h
- *  \brief Attitude estimation for fixedwings based on the DCM
- *  Theory: http://code.google.com/p/gentlenav/downloads/list  file DCMDraft2.pdf
+/**
+ * @file subsystems/ahrs/ahrs_float_dcm.h
+ *
+ * Attitude estimation for fixedwings based on the DCM.
+ *
+ * Theory: http://code.google.com/p/gentlenav/downloads/list  file DCMDraft2.pdf
 *
 */

@@ -1,4 +1,25 @@
-//Algebra helper functions for DCM
+/*
+ * Released under Creative Commons License
+ *
+ * 2010 The Paparazzi Team
+ *
+ *
+ * Based on Code by Jordi Munoz and William Premerlani, Supported by Chris Anderson (Wired) and Nathan Sindle (SparkFun).
+ * Version 1.0 for flat board updated by Doug Weibel and Jose Julio
+ *
+ */
+
+/**
+ * @file subsystems/ahrs/ahrs_float_dcm_algebra.h
+ *
+ * Algebra helper functions for DCM.
+ *
+ * @todo get rid of this and use pprz math lib.
+ */
+
+#ifndef AHRS_FLOAT_DCM_ALGEBRA_H
+#define AHRS_FLOAT_DCM_ALGEBRA_H
+

 static inline float Vector_Dot_Product(float vector1[3],float vector2[3])
 {
@@ -55,3 +76,5 @@ static inline void Matrix_Multiply(float a[3][3], float b[3][3],float mat[3][3])
        }
    }
 }
+
+#endif // AHRS_FLOAT_DCM_ALGEBRA_H
@@ -20,6 +20,13 @@
 * Boston, MA 02111-1307, USA.
 */

+/**
+ * @file subsystems/ahrs/ahrs_float_lkf.h
+ *
+ * Linearized Kalman Filter for attitude estimation.
+ *
+ */
+
 #ifndef AHRS_FLOAT_LKF_H
 #define AHRS_FLOAT_LKF_H

@@ -1,3 +1,32 @@
+/*
+ * Copyright (C) 2009 Felix Ruess <felix.ruess@gmail.com>
+ * Copyright (C) 2009 Antoine Drouin <poinix@gmail.com>
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ */
+
+/**
+ * @file subsystems/ahrs/ahrs_float_utils.h
+ *
+ * Utility functions for floating point AHRS implementations.
+ *
+ */
+
 #ifndef AHRS_FLOAT_UTILS_H
 #define AHRS_FLOAT_UTILS_H

@@ -19,6 +19,16 @@
 * Boston, MA 02111-1307, USA.
 */

+/**
+ * @file subsystems/ahrs/ahrs_infrared.c
+ *
+ * Attitude estimation using infrared sensors detecting the horizon.
+ * For fixedwings only:
+ * - GPS course is used as heading.
+ * - ADC channels can be used for gyros.
+ *
+ */
+
 #include "subsystems/ahrs/ahrs_infrared.h"

 #include "subsystems/sensors/infrared.h"
@@ -19,6 +19,13 @@
 * Boston, MA 02111-1307, USA.
 */

+/**
+ * @file subsystems/ahrs/ahrs_infrared.h
+ *
+ * Fixedwing attitude estimation using infrared sensors.
+ *
+ */
+
 #ifndef AHRS_INFRARED_H
 #define AHRS_INFRARED_H

@@ -19,6 +19,15 @@
 * Boston, MA 02111-1307, USA.
 */

+/**
+ * @file subsystems/ahrs/ahrs_int_cmpl_euler.c
+ *
+ * Complementary filter in euler representation (fixed-point).
+ *
+ * Estimate the attitude, heading and gyro bias.
+ *
+ */
+
 #include "ahrs_int_cmpl_euler.h"

 #include "state.h"
@@ -19,6 +19,14 @@
 * Boston, MA 02111-1307, USA.
 */

+/**
+ * @file subsystems/ahrs/ahrs_int_cmpl_euler.h
+ *
+ * Complementary filter in euler representation (fixed-point).
+ *
+ */
+
+
 #ifndef AHRS_INT_CMPL_EULER_H
 #define AHRS_INT_CMPL_EULER_H

@@ -19,6 +19,14 @@
 * Boston, MA 02111-1307, USA.
 */

+/**
+ * @file subsystems/ahrs/ahrs_int_cmpl_quat.c
+ *
+ * Quaternion complementary filter (fixed-point).
+ *
+ * Estimate the attitude, heading and gyro bias.
+ *
+ */

 #include "subsystems/ahrs/ahrs_int_cmpl_quat.h"
 #include "subsystems/ahrs/ahrs_aligner.h"
@@ -19,6 +19,15 @@
 * Boston, MA 02111-1307, USA.
 */

+/**
+ * @file subsystems/ahrs/ahrs_int_cmpl_quat.h
+ *
+ * Quaternion complementary filter (fixed-point).
+ *
+ * Estimate the attitude, heading and gyro bias.
+ *
+ */
+
 #ifndef AHRS_INT_CMPL_H
 #define AHRS_INT_CMPL_H

@@ -1,3 +1,32 @@
+/*
+ * Copyright (C) 2009 Felix Ruess <felix.ruess@gmail.com>
+ * Copyright (C) 2009 Antoine Drouin <poinix@gmail.com>
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ */
+
+/**
+ * @file subsystems/ahrs/ahrs_int_utils.h
+ *
+ * Utility functions for fixed point AHRS implementations.
+ *
+ */
+
 #ifndef AHRS_INT_UTILS_H
 #define AHRS_INT_UTILS_H

@@ -1,3 +1,6 @@
+#ifndef AHRS_MAGNETIC_FIELD_MODEL_H
+#define AHRS_MAGNETIC_FIELD_MODEL_H
+
 #include "generated/airframe.h"

 #ifndef AHRS_H_X
@@ -8,3 +11,4 @@
 #define AHRS_H_Y 0
 #endif

+#endif
@@ -19,6 +19,12 @@
 * Boston, MA 02111-1307, USA.
 */

+/**
+ * @file subsystems/ahrs/ahrs_sim.c
+ *
+ * Dummy plug to set the AHRS from the simple OCaml simulator.
+ *
+ */

 #include "subsystems/ahrs.h"
 #include "subsystems/ahrs/ahrs_sim.h"
@@ -19,6 +19,13 @@
 * Boston, MA 02111-1307, USA.
 */

+/**
+ * @file subsystems/ahrs/ahrs_sim.h
+ *
+ * Interface to set the AHRS from the simple OCaml simulator.
+ *
+ */
+
 #ifndef AHRS_SIM_H
 #define AHRS_SIM_H

@@ -19,7 +19,8 @@
 * Boston, MA 02111-1307, USA.
 */

-/** @file imu.c
+/**
+ * @file subsystems/imu.c
 * Inertial Measurement Unit interface.
 */

@@ -18,8 +18,10 @@
 * the Free Software Foundation, 59 Temple Place - Suite 330,
 * Boston, MA 02111-1307, USA.
 */
-/** \file imu.h
- * \brief Inertial Measurement Unit interface
+
+/**
+ * @file subsystems/imu.h
+ * Inertial Measurement Unit interface.
 */

 #ifndef IMU_H
@@ -19,6 +19,12 @@
 * Boston, MA 02111-1307, USA.
 */

+/**
+ * @file subsystems/ins.c
+ * Integrated Navigation System interface.
+ */
+
+
 #include "subsystems/ins.h"

 struct Ins ins;
@@ -19,6 +19,11 @@
 * Boston, MA 02111-1307, USA.
 */

+/**
+ * @file subsystems/ins.h
+ * Integrated Navigation System interface.
+ */
+
 #ifndef INS_H
 #define INS_H

@@ -20,6 +20,13 @@
 * Boston, MA 02111-1307, USA.
 */

+/**
+ * @file subsystems/ins/hf_float.c
+ *
+ * Horizontal filter (x,y) to estimate position and velocity.
+ *
+ */
+
 #include "subsystems/ins/hf_float.h"
 #include "subsystems/ins.h"
 #include "subsystems/imu.h"
@@ -19,6 +19,13 @@
 * Boston, MA 02111-1307, USA.
 */

+/**
+ * @file subsystems/ins/hf_float.h
+ *
+ * Horizontal filter (x,y) to estimate position and velocity.
+ *
+ */
+
 #ifndef HF_FLOAT_H
 #define HF_FLOAT_H

@@ -19,8 +19,9 @@
 * Boston, MA 02111-1307, USA.
 */

-/** @file ins_alt_float.c
- * Filters altitude and climb rate.
+/**
+ * @file subsystems/ins/ins_alt_float.c
+ * Filters altitude and climb rate for fixedwings.
 */

 #include "subsystems/ins.h"
@@ -18,7 +18,11 @@
 * along with paparazzi; see the file COPYING.  If not, write to
 * the Free Software Foundation, 59 Temple Place - Suite 330,
 * Boston, MA 02111-1307, USA.
- *
+ */
+
+/**
+ * @file subsystems/ins/ins_alt_float.h
+ * Filters altitude and climb rate for fixedwings.
 */

 #ifndef INS_ALT_FLOAT_H
@@ -19,7 +19,9 @@
 * Boston, MA 02111-1307, USA.
 */

-/** @file ins_gps_passthrough.c
+/**
+ * @file subsystems/ins/ins_gps_passthrough.c
+ *
 * Simply passes GPS position and velocity through to the state interface.
 */

@@ -19,6 +19,13 @@
 * Boston, MA 02111-1307, USA.
 */

+/**
+ * @file subsystems/ins/ins_int.c
+ *
+ * INS for rotorcrafts combining vertical and horizontal filters.
+ *
+ */
+
 #include "subsystems/ins/ins_int.h"

 #include "subsystems/imu.h"
@@ -19,6 +19,13 @@
 * Boston, MA 02111-1307, USA.
 */

+/**
+ * @file subsystems/ins/ins_int.h
+ *
+ * INS for rotorcrafts combining vertical and horizontal filters.
+ *
+ */
+
 #ifndef INS_INT_H
 #define INS_INT_H

@@ -20,6 +20,13 @@
 * Boston, MA 02111-1307, USA.
 */

+/**
+ * @file subsystems/ins/ins_int_extended.c
+ *
+ * INS for rotorcrafts combining vertical and horizontal filters.
+ *
+ */
+
 #include "subsystems/ins/ins_int.h"

 #include "subsystems/imu.h"
@@ -20,6 +20,15 @@
 * Boston, MA 02111-1307, USA.
 */

+/**
+ * @file subsystems/ins/vf_extended_float.c
+ *
+ * Extended vertical filter (in float).
+ *
+ * Estimates altitude, vertical speed, accelerometer bias
+ * and barometer offset.
+ */
+
 #include "subsystems/ins/vf_extended_float.h"

 #define DEBUG_VFF_EXTENDED 1
@@ -20,6 +20,13 @@
 * Boston, MA 02111-1307, USA.
 */

+/**
+ * @file subsystems/ins/vf_extended_float.h
+ *
+ * Interface for extended vertical filter (in float).
+ *
+ */
+
 #ifndef VF_EXTENDED_FLOAT_H
 #define VF_EXTENDED_FLOAT_H

@@ -19,6 +19,13 @@
 * Boston, MA 02111-1307, USA.
 */

+/**
+ * @file subsystems/ins/vf_float.c
+ *
+ * Vertical filter (in float) estimating altitude, velocity and accel bias.
+ *
+ */
+
 #include "subsystems/ins/vf_float.h"

 /*
@@ -131,7 +138,7 @@ void vff_propagate(float accel) {
  // update covariance
  Pp = Pm - K*H*Pm;
 */
-__attribute__ ((always_inline)) static inline void update_z_conf(float z_meas, float conf) {
+static inline void update_z_conf(float z_meas, float conf) {
  vff_z_meas = z_meas;

  const float y = z_meas - vff_z;
@@ -188,7 +195,7 @@ void vff_update_z_conf(float z_meas, float conf) {
  // update covariance
  Pp = Pm - K*H*Pm;
 */
-__attribute__ ((always_inline)) static inline void update_vz_conf(float vz, float conf) {
+static inline void update_vz_conf(float vz, float conf) {
  const float yd = vz - vff_zdot;
  const float S = vff_P[1][1] + conf;
  const float K1 = vff_P[0][1] * 1/S;
@@ -19,6 +19,13 @@
 * Boston, MA 02111-1307, USA.
 */

+/**
+ * @file subsystems/ins/vf_float.h
+ *
+ * Vertical filter (in float) estimating altitude, velocity and accel bias.
+ *
+ */
+
 #ifndef VF_FLOAT_H
 #define VF_FLOAT_H

@@ -19,6 +19,13 @@
 * Boston, MA 02111-1307, USA.
 */

+/**
+ * @file subsystems/ins/vf_int.c
+ *
+ * Vertical filter (fixed-point) estimating altitude, velocity and accel bias.
+ *
+ */
+
 #include "subsystems/ins/vf_int.h"

 #include "booz_geometry_mixed.h"
@@ -19,6 +19,13 @@
 * Boston, MA 02111-1307, USA.
 */

+/**
+ * @file subsystems/ins/vf_int.h
+ *
+ * Vertical filter (fixed-point) estimating altitude, velocity and accel bias.
+ *
+ */
+
 #ifndef VF_INT_H
 #define VF_INT_H