mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-10 06:59:54 +08:00
Gautier Hattenberger
dfd8e93927
* [generator] generate unique ID and names table for modules * [state] add accessors for the state origin * [state] don't access directly to state origin, use getters * [state] filter inputs with module ID * [ahrs] convert AHRS modules to state input filter - selection of ahrs with settings from each module - init functions for each ahrs modules - remove old chimu * update unit test * [ins] decoupled INS implementation To allow multiple INS at the same time: - remove weak functions from ins.c - remove the INS_TYPE_H define - use ABI message to trigger INS reset * [state] protect for c++
34 lines
1004 B
XML
34 lines
1004 B
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="ins_ext_pose" dir="ins">
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<doc>
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<description>
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Extened Kalman filter based on https://en.wikipedia.org/wiki/Extended_Kalman_filter
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Designed to merge only IMU and OptiTrack/VICON (no baro, sonar, GPS, ...)
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- predict attitude and path with gyroscopes and accelerometers
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- correct attitude and path with external pose and position message
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- estimate gyro and accelerometer biases
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Bypassed when simulating.
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</description>
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</doc>
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<dep>
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<depends>@gps,@datalink,@imu</depends>
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<provides>ahrs,ins</provides>
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</dep>
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<header>
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<file name="ins_ext_pose.h"/>
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</header>
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<init fun="ins_ext_pose_init()"/>
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<periodic fun="ins_ext_pose_run()"/>
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<datalink message="EXTERNAL_POSE" fun="ins_ext_pose_msg_update(buf)"/>
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<makefile target="ap">
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<define name="INS_EXT_POSE" value="TRUE"/>
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<file name="ins_ext_pose.c"/>
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<file name="ins.c"/>
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</makefile>
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</module>
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