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Freek van Tienen
109 lines
6.9 KiB
XML
109 lines
6.9 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="ins_ekf2" dir="ins" task="estimation">
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<doc>
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<description>
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simple INS and AHRS using EKF2 from PX4
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</description>
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<define name="INS_EKF2_OPTITRACK" value="false" description="Easy configuration of full optitrack (position- and yaw fusion, height, init origin)"/>
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<define name="INS_EKF2_FUSION_MODE" value="(MASK_USE_GPS)" description="The sensor that are used for position fusion"/>
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<define name="INS_EKF2_VDIST_SENSOR_TYPE" value="VDIST_SENSOR_BARO" description="Primary sensor used for vertical distance"/>
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<define name="INS_EKF2_GPS_CHECK_MASK" value="(MASK_GPS_NSATS | MASK_GPS_HACC | MASK_GPS_SACC)" description="GPS checks enabled before initialization of the global positioning"/>
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<define name="INS_EKF2_EVP_NOISE" value="0.1" description="External vision position noise [m]"/>
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<define name="INS_EKF2_EVV_NOISE" value="1.0" description="External vision velocity noise [m/s]"/>
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<define name="INS_EKF2_EVA_NOISE" value="0.05" description="External vision angle noise [rad]"/>
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<define name="INS_EKF2_GPS_V_NOISE" value="0.3" description="GPS measurement noise for horizontal velocity [m/s]"/>
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<define name="INS_EKF2_GPS_P_NOISE" value="0.5" description="GPS measurement position noise [m]"/>
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<define name="INS_EKF2_BARO_NOISE" value="3.5" description="Barometric measurement noise for altitude [m]"/>
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<define name="INS_EKF2_IMU_POS_X" value="0" description="IMU X offset from CoG position [m]"/>
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<define name="INS_EKF2_IMU_POS_Y" value="0" description="IMU Y offset from CoG position [m]"/>
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<define name="INS_EKF2_IMU_POS_Z" value="0" description="IMU Z offset from CoG position [m]"/>
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<define name="INS_EKF2_GPS_POS_X" value="0" description="GPS X offset from CoG position [m]"/>
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<define name="INS_EKF2_GPS_POS_Y" value="0" description="GPS Y offset from CoG position [m]"/>
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<define name="INS_EKF2_GPS_POS_Z" value="0" description="GPS Z offset from CoG position [m]"/>
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<define name="INS_EKF2_FLOW_POS_X" value="0" description="Flow sensor X offset from CoG position [m]"/>
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<define name="INS_EKF2_FLOW_POS_Y" value="0" description="Flow sensor Y offset from CoG position [m]"/>
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<define name="INS_EKF2_FLOW_POS_Z" value="0" description="Flow sensor Z offset from CoG position [m]"/>
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<define name="INS_EKF2_SONAR_MIN_RANGE" value="0.05" description="AGL sensor minimum range [m]"/>
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<define name="INS_EKF2_SONAR_MAX_RANGE" value="3" description="AGL sensor maximum range [m]"/>
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<define name="INS_EKF2_RANGE_MAIN_AGL" value="1" description="If enabled uses radar sensor as primary AGL source, if possible"/>
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<define name="INS_EKF2_FLOW_SENSOR_DELAY" value="15" description="flow/radar message delay [ms]"/>
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<define name="INS_EKF2_MIN_FLOW_QUALITY" value="100" description="Minimum quality of the optical flow message accepted [0-255]"/>
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<define name="INS_EKF2_MAX_FLOW_RATE" value="20" description="Maximum flow rate the sensor can perceive [rad/sec]]"/>
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<define name="INS_EKF2_FLOW_NOISE" value="0.01" description="Flow sensor noise [rad/sec]"/>
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<define name="INS_EKF2_FLOW_NOISE_QMIN" value="0.03" description="Flow sensor noise when quality is minimum [rad/sec]"/>
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<define name="INS_EKF2_FLOW_INNOV_GATE" value="3" description="Flow sensor innovation gate [STD]"/>
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<define name="INS_EKF2_AGL_ID" value="ABI_BROADCAST" description="ABI sensor ID used as input for AGL measurements"/>
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<define name="INS_EKF2_BARO_ID" value="ABI_BROADCAST" description="ABI sensor ID used ad input for Barometric measurements"/>
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<define name="INS_EKF2_GYRO_ID" value="ABI_BROADCAST" description="ABI sensor ID used as input for gyro measurements"/>
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<define name="INS_EKF2_ACCEL_ID" value="ABI_BROADCAST" description="ABI sensor ID used ad input for acceleration measurements"/>
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<define name="INS_EKF2_MAG_ID" value="ABI_BROADCAST" description="ABI sensor ID used as input for magnetic measurements"/>
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<define name="INS_EKF2_GPS_ID" value="ABI_BROADCAST" description="ABI sensor ID used ad input for GPS measurements"/>
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</doc>
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<settings>
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<dl_settings NAME="INS">
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<!-- EKF2 Configuration parameters -->
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<dl_settings name="ekf2">
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<dl_setting var="ekf2.qnh" min="500" step="0.1" max="1500" shortname="QNH"/>
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<dl_setting var="ekf2.temp" min="-50" step="0.1" max="80" shortname="temperature"/>
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<dl_setting var="ekf2.mag_fusion_type" min="0" step="1" max="5" shortname="mag_fusion" values="AUTO|HEADING|3D|AUTOFW|INDOOR|NONE" module="modules/ins/ins_ekf2" handler="change_param"/>
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<dl_setting var="ekf2.fusion_mode" min="0" max="1" step="1" shortname="remove_gps" values="FALSE|TRUE" module="modules/ins/ins_ekf2" handler="remove_gps" type="bool"/>
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</dl_settings>
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</dl_settings>
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</settings>
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<dep>
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<depends>@gps,@mag,@imu</depends>
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<provides>ins,ahrs</provides>
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</dep>
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<header>
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<file name="ins_ekf2.h"/>
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</header>
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<init fun="ins_ekf2_init()"/>
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<periodic fun="ins_ekf2_update()" autorun="TRUE"/>
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<datalink message="EXTERNAL_POSE" fun="ins_ekf2_parse_EXTERNAL_POSE(buf)"/>
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<datalink message="EXTERNAL_POSE_SMALL" fun="ins_ekf2_parse_EXTERNAL_POSE_SMALL(buf)"/>
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<makefile target="ap|nps">
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<configure name="CXXSTANDARD" value="-std=c++14"/>
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<flag name="CXXFLAGS" value="Wno-unused-but-set-variable"/>
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<flag name="CXXFLAGS" value="Wno-unused-variable"/>
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<!-- EKF2 files -->
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<define name="INS_TYPE_H" value="modules/ins/ins_ekf2.h" type="string"/>
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<file name="ins.c"/>
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<file name="ins_ekf2.cpp"/>
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<!-- Include the ecl and matrix libraries from ext -->
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<include name="$(PAPARAZZI_SRC)/sw/ext/ecl/"/>
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<include name="$(PAPARAZZI_SRC)/sw/ext/matrix/"/>
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<define name="__PAPARAZZI" value="TRUE"/>
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<define name="ECL_STANDALONE" value="TRUE"/>
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<define name="IMU_INTEGRATION" value="TRUE"/> <!-- Needed to enable IMU integration -->
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<!-- Compile needed ecl files -->
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<file name="geo.cpp" dir="ecl/geo"/>
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<file name="geo_mag_declination.cpp" dir="ecl/geo_lookup"/>
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<file name="airspeed_fusion.cpp" dir="ecl/EKF"/>
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<file name="control.cpp" dir="ecl/EKF"/>
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<file name="mag_control.cpp" dir="ecl/EKF"/>
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<file name="covariance.cpp" dir="ecl/EKF"/>
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<file name="drag_fusion.cpp" dir="ecl/EKF"/>
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<file name="ekf.cpp" dir="ecl/EKF"/>
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<file name="ekf_helper.cpp" dir="ecl/EKF"/>
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<file name="estimator_interface.cpp" dir="ecl/EKF"/>
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<file name="gps_checks.cpp" dir="ecl/EKF"/>
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<file name="mag_fusion.cpp" dir="ecl/EKF"/>
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<file name="optflow_fusion.cpp" dir="ecl/EKF"/>
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<file name="sideslip_fusion.cpp" dir="ecl/EKF"/>
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<file name="terrain_estimator.cpp" dir="ecl/EKF"/>
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<file name="vel_pos_fusion.cpp" dir="ecl/EKF"/>
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<file name="gps_yaw_fusion.cpp" dir="ecl/EKF"/>
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<file name="imu_down_sampler.cpp" dir="ecl/EKF"/>
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<file name="EKFGSF_yaw.cpp" dir="ecl/EKF"/>
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<file name="sensor_range_finder.cpp" dir="ecl/EKF"/>
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<file name="utils.cpp" dir="ecl/EKF"/>
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</makefile>
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</module>
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