flight/libraries/inc/insgps.h

   1 /**
   2  ******************************************************************************
   3  * @addtogroup AHRS
   4  * @{
   5  * @addtogroup INSGPS
   6  * @{
   7  * @brief INSGPS is a joint attitude and position estimation EKF
   8  *
   9  * @file       insgps.h
  10  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
  11  * @brief      Include file of the INSGPS exposed functionality.
  12  *
  13  * @see        The GNU Public License (GPL) Version 3
  14  *
  15  *****************************************************************************/
  16 /*
  17  * This program is free software; you can redistribute it and/or modify
  18  * it under the terms of the GNU General Public License as published by
  19  * the Free Software Foundation; either version 3 of the License, or
  20  * (at your option) any later version.
  21  *
  22  * This program is distributed in the hope that it will be useful, but
  23  * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  24  * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  25  * for more details.
  26  *
  27  * You should have received a copy of the GNU General Public License along
  28  * with this program; if not, write to the Free Software Foundation, Inc.,
  29  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  30  */
  31
  32 #ifndef INSGPS_H_
  33 #define INSGPS_H_
  34
  35 #include "stdint.h"
  36
  37 /**
  38  * @addtogroup Constants
  39  * @{
  40  */
  41 #define POS_SENSORS       0x007
  42 #define HORIZ_POS_SENSORS 0x003
  43 #define VER_POS_SENSORS   0x004
  44 #define HORIZ_SENSORS     0x018
  45 #define VERT_SENSORS      0x020
  46 #define MAG_SENSORS       0x1C0
  47 #define BARO_SENSOR       0x200
  48
  49 #define FULL_SENSORS      0x3FF
  50
  51 /**
  52  * @}
  53  */
  54
  55 // Exposed Function Prototypes
  56 void INSGPSInit();
  57 void INSStatePrediction(float gyro_data[3], float accel_data[3], float dT);
  58 void INSCovariancePrediction(float dT);
  59 void INSCorrection(float mag_data[3], float Pos[3], float Vel[3], float BaroAlt, uint16_t SensorsUsed);
  60
  61 void INSResetP(float PDiag[13]);
  62 void INSGetP(float PDiag[13]);
  63 void INSSetState(float pos[3], float vel[3], float q[4], float gyro_bias[3], float accel_bias[3]);
  64 void INSSetPosVelVar(float PosVar[3], float VelVar[3]);
  65 void INSSetGyroBias(float gyro_bias[3]);
  66 void INSSetAccelVar(float accel_var[3]);
  67 void INSSetGyroVar(float gyro_var[3]);
  68 void INSSetGyroBiasVar(float gyro_bias_var[3]);
  69 void INSSetMagNorth(float B[3]);
  70 void INSSetMagVar(float scaled_mag_var[3]);
  71 void INSSetBaroVar(float baro_var);
  72 void INSPosVelReset(float pos[3], float vel[3]);
  73
  74 void MagCorrection(float mag_data[3]);
  75 void MagVelBaroCorrection(float mag_data[3], float Vel[3], float BaroAlt);
  76 void FullCorrection(float mag_data[3], float Pos[3], float Vel[3],
  77                     float BaroAlt);
  78 void GpsBaroCorrection(float Pos[3], float Vel[3], float BaroAlt);
  79 void GpsMagCorrection(float mag_data[3], float Pos[3], float Vel[2]);
  80 void VelBaroCorrection(float Vel[3], float BaroAlt);
  81
  82 uint16_t ins_get_num_states();
  83
  84 // Nav structure containing current solution
  85 extern struct NavStruct {
  86     float Pos[3]; // Position in meters and relative to a local NED frame
  87     float Vel[3]; // Velocity in meters and in NED
  88     float q[4]; // unit quaternion rotation relative to NED
  89     float gyro_bias[3];
  90     float accel_bias[3];
  91 } Nav;
  92
  93 /**
  94  * @}
  95  * @}
  96  */
  97
  98 #endif /* EKF_H_ */