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[gps][ins] improve gps support for ins filters

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- use conveniance functions to access GPS position and speed
- try to improve support of UBX fix status
- gps.h compatible with cpp files
This commit is contained in:
Gautier Hattenberger
2022-09-20 17:09:20 +02:00
committed by Freek van Tienen
parent 3440ff3fcd
commit 9a27eea7a7
18 changed files with 317 additions and 82 deletions
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conf/modules/ins_float_invariant.xml
+3
View File
@@ -50,6 +50,9 @@
<define name="USE_AHRS_ALIGNER"/>
<define name="INS_TYPE_H" value="modules/ins/ins_float_invariant_wrapper.h" type="string"/>
<test firmware="rotorcraft"/>
<test firmware="fixedwing">
<define name="FIXEDWING_FIRMWARE"/>
</test>
</makefile>
<makefile target="sim">
<define name="AHRS_TYPE_H" value="modules/ahrs/ahrs_sim.h" type="string"/>
conf/modules/ins_gps_passthrough.xml
+1 -1
View File
@@ -26,7 +26,7 @@
<file name="ins.c"/>
<file name="ins_gps_passthrough_utm.c"/>
</makefile>
<makefile target="ap" firmware="rover">
<makefile target="ap|nps" firmware="rover">
<define name="INS_TYPE_H" value="modules/ins/ins_gps_passthrough.h" type="string"/>
<file name="ins.c"/>
<file name="ins_gps_passthrough.c"/>
conf/modules/ins_mekf_wind.xml
+6
View File
@@ -82,6 +82,12 @@
<define name="USE_AHRS_ALIGNER"/>
<define name="INS_TYPE_H" value="modules/ins/ins_mekf_wind_wrapper.h" type="string"/>
<test firmware="fixedwing">
<define name="FIXEDWING_FIRMWARE"/>
<define name="INS_TYPE_H" value="modules/ins/ins_mekf_wind_wrapper.h" type="string"/>
<include name="../ext/eigen"/>
</test>
<test firmware="rotorcraft">
<define name="ROTORCRAFT_FIRMWARE"/>
<define name="INS_TYPE_H" value="modules/ins/ins_mekf_wind_wrapper.h" type="string"/>
<include name="../ext/eigen"/>
</test>