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This patch breaks backward compatibility with AHRS solidly.

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Move the configuration files for INS from AHRS* to INS*.  Strip out unused
fields in settings and merge calibration and settings since settings has
basically no information.
This commit is contained in:
James Cotton 2011-08-24 12:18:07 -05:00
parent 37878ed4e8
commit 612d3336b4
15 changed files with 96 additions and 150 deletions
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56
flight/INS/ins.c
View File

@ -74,12 +74,12 @@ void reset_values();
void calibrate_sensors(void);
/* Communication functions */
void send_calibration(void);
//void send_calibration(void);
void send_attitude(void);
void send_velocity(void);
void send_position(void);
void homelocation_callback(AhrsObjHandle obj);
void calibration_callback(AhrsObjHandle obj);
//void calibration_callback(AhrsObjHandle obj);
void settings_callback(AhrsObjHandle obj);
void affine_rotate(float scale[3][4], float rotation[3]);
void calibration(float result[3], float scale[3][4], float arg[3]);
@ -129,7 +129,7 @@ typedef enum { INS_IDLE, INS_DATA_READY, INS_PROCESSING } states;
*/
uint32_t total_conversion_blocks;
static bool bias_corrected_raw;
float pressure, altitude;
@ -142,7 +142,7 @@ int main()
{
gps_data.quality = -1;
static int8_t last_ahrs_algorithm;
ahrs_algorithm = AHRSSETTINGS_ALGORITHM_SIMPLE;
ahrs_algorithm = INSSETTINGS_ALGORITHM_SIMPLE;
reset_values();
@ -191,18 +191,15 @@ int main()
/* we didn't connect the callbacks before because we have to wait
for all data to be up to date before doing anything*/
AHRSCalibrationConnectCallback(calibration_callback);
AHRSSettingsConnectCallback(settings_callback);
InsSettingsConnectCallback(settings_callback);
HomeLocationConnectCallback(homelocation_callback);
FirmwareIAPObjConnectCallback(firmwareiapobj_callback);
calibration_callback(AHRSCalibrationHandle()); //force an update
/******************* Main EKF loop ****************************/
while(1) {
AhrsPoll();
AhrsStatusData status;
AhrsStatusGet(&status);
InsStatusData status;
InsStatusGet(&status);
// Alive signal
if ((total_conversion_blocks++ % 100) == 0)
@ -236,20 +233,20 @@ int main()
time_val2 = PIOS_DELAY_GetRaw();
switch(ahrs_algorithm) {
case AHRSSETTINGS_ALGORITHM_SIMPLE:
case INSSETTINGS_ALGORITHM_SIMPLE:
simple_update();
break;
case AHRSSETTINGS_ALGORITHM_INSGPS_OUTDOOR:
case INSSETTINGS_ALGORITHM_INSGPS_OUTDOOR:
ins_outdoor_update();
break;
case AHRSSETTINGS_ALGORITHM_INSGPS_INDOOR:
case AHRSSETTINGS_ALGORITHM_INSGPS_INDOOR_NOMAG:
case INSSETTINGS_ALGORITHM_INSGPS_INDOOR:
case INSSETTINGS_ALGORITHM_INSGPS_INDOOR_NOMAG:
ins_indoor_update();
break;
}
status.RunningTimePerCycle = PIOS_DELAY_DiffuS(time_val2);
AhrsStatusSet(&status);
InsStatusSet(&status);
}
return 0;
@ -401,9 +398,9 @@ void get_accel_gyro_data()
raw.gyros[1] = gyro_data.filtered.y * RAD_TO_DEG;
raw.gyros[2] = gyro_data.filtered.z * RAD_TO_DEG;
AHRSSettingsData settings;
AHRSSettingsGet(&settings);
if (settings.BiasCorrectedRaw == AHRSSETTINGS_BIASCORRECTEDRAW_TRUE)
InsSettingsData settings;
InsSettingsGet(&settings);
if (bias_corrected_raw)
{
raw.gyros[0] -= Nav.gyro_bias[0] * RAD_TO_DEG;
raw.gyros[1] -= Nav.gyro_bias[1] * RAD_TO_DEG;
@ -617,26 +614,22 @@ void reset_values()
mag_data.calibration.variance[1] = 50;
mag_data.calibration.variance[2] = 50;
ahrs_algorithm = AHRSSETTINGS_ALGORITHM_SIMPLE;
ahrs_algorithm = INSSETTINGS_ALGORITHM_NONE;
}
void send_attitude(void)
{
AttitudeActualData attitude;
AHRSSettingsData settings;
AHRSSettingsGet(&settings);
AttitudeActualGet(&attitude);
attitude.q1 = attitude_data.quaternion.q1;
attitude.q2 = attitude_data.quaternion.q2;
attitude.q3 = attitude_data.quaternion.q3;
attitude.q4 = attitude_data.quaternion.q4;
float rpy[3];
Quaternion2RPY(&attitude_data.quaternion.q1, rpy);
attitude.Roll = rpy[0] + settings.RollBias;
attitude.Pitch = rpy[1] + settings.PitchBias;
attitude.Yaw = rpy[2] + settings.YawBias;
if(attitude.Yaw > 360)
attitude.Yaw -= 360;
attitude.Roll = rpy[0];
attitude.Pitch = rpy[1];
attitude.Yaw = rpy[2];
AttitudeActualSet(&attitude);
}
@ -666,6 +659,7 @@ void send_position(void)
PositionActualSet(&positionActual);
}
/*
void send_calibration(void)
{
AHRSCalibrationData cal;
@ -680,12 +674,14 @@ void send_calibration(void)
cal.measure_var = AHRSCALIBRATION_MEASURE_VAR_SET;
AHRSCalibrationSet(&cal);
}
*/
/**
* @brief INS calibration callback
*
* Called when the OP board sets the calibration
*/
/*
void calibration_callback(AhrsObjHandle obj)
{
AHRSCalibrationData cal;
@ -732,13 +728,15 @@ void calibration_callback(AhrsObjHandle obj)
INSSetPosVelVar(cal.pos_var, cal.vel_var);
}
*/
void settings_callback(AhrsObjHandle obj)
{
AHRSSettingsData settings;
AHRSSettingsGet(&settings);
InsSettingsData settings;
InsSettingsGet(&settings);
ahrs_algorithm = settings.Algorithm;
bias_corrected_raw = settings.BiasCorrectedRaw == INSSETTINGS_BIASCORRECTEDRAW_TRUE;
}
void homelocation_callback(AhrsObjHandle obj)

6
flight/INS/insgps_helper.c
View File

@ -211,7 +211,7 @@ void ins_indoor_update()
else
sensors = HORIZ_SENSORS | VERT_SENSORS;
if(mag_data.updated && (ahrs_algorithm == AHRSSETTINGS_ALGORITHM_INSGPS_INDOOR)) {
if(mag_data.updated && (ahrs_algorithm == INSSETTINGS_ALGORITHM_INSGPS_INDOOR)) {
sensors |= MAG_SENSORS;
mag_data.updated = false;
}
@ -247,10 +247,10 @@ void ins_init_algorithm()
accels[1]=accel_data.filtered.y;
accels[2]=accel_data.filtered.z;
using_mags = (ahrs_algorithm == AHRSSETTINGS_ALGORITHM_INSGPS_OUTDOOR) || (ahrs_algorithm == AHRSSETTINGS_ALGORITHM_INSGPS_INDOOR);
using_mags = (ahrs_algorithm == INSSETTINGS_ALGORITHM_INSGPS_OUTDOOR) || (ahrs_algorithm == INSSETTINGS_ALGORITHM_INSGPS_INDOOR);
using_mags &= (home.Be[0] != 0) || (home.Be[1] != 0) || (home.Be[2] != 0); /* only use mags when valid home location */
using_gps = (ahrs_algorithm == AHRSSETTINGS_ALGORITHM_INSGPS_OUTDOOR) && (gps_data.quality != 0);
using_gps = (ahrs_algorithm == INSSETTINGS_ALGORITHM_INSGPS_OUTDOOR) && (gps_data.quality != 0);
/* Block till a data update */
get_accel_gyro_data();

28
flight/Libraries/ahrs_comm_objects.c
View File

@ -29,15 +29,14 @@
static AttitudeRawData AttitudeRaw;
static AttitudeActualData AttitudeActual;
static AHRSCalibrationData AHRSCalibration;
static AhrsStatusData AhrsStatus;
static BaroAltitudeData BaroAltitude;
static GPSPositionData GPSPosition;
static HomeLocationData HomeLocation;
static InsStatusData InsStatus;
static InsSettingsData InsSettings;
static FirmwareIAPObjData FirmwareIAPObj;
static PositionActualData PositionActual;
static VelocityActualData VelocityActual;
static HomeLocationData HomeLocation;
static AHRSSettingsData AHRSSettings;
static FirmwareIAPObjData FirmwareIAPObj;
AhrsSharedObject objectHandles[MAX_AHRS_OBJECTS];
@ -53,17 +52,16 @@ AhrsSharedObject objectHandles[MAX_AHRS_OBJECTS];
CREATEHANDLE(0, AttitudeRaw);
CREATEHANDLE(1, AttitudeActual);
CREATEHANDLE(2, AHRSCalibration);
CREATEHANDLE(3, AhrsStatus);
CREATEHANDLE(2, InsSettings);
CREATEHANDLE(3, InsStatus);
CREATEHANDLE(4, BaroAltitude);
CREATEHANDLE(5, GPSPosition);
CREATEHANDLE(6, PositionActual);
CREATEHANDLE(7, VelocityActual);
CREATEHANDLE(8, HomeLocation);
CREATEHANDLE(9, AHRSSettings);
CREATEHANDLE(10, FirmwareIAPObj);
CREATEHANDLE(9, FirmwareIAPObj);
#if 11 != MAX_AHRS_OBJECTS //sanity check
#if 10 != MAX_AHRS_OBJECTS //sanity check
#error We did not create the correct number of xxxHandle() functions
#endif
@ -96,14 +94,13 @@ void AhrsInitHandles(void)
//the last has the lowest priority
ADDHANDLE(idx++, AttitudeRaw);
ADDHANDLE(idx++, AttitudeActual);
ADDHANDLE(idx++, AHRSCalibration);
ADDHANDLE(idx++, AhrsStatus);
ADDHANDLE(idx++, InsSettings);
ADDHANDLE(idx++, InsStatus);
ADDHANDLE(idx++, BaroAltitude);
ADDHANDLE(idx++, GPSPosition);
ADDHANDLE(idx++, PositionActual);
ADDHANDLE(idx++, VelocityActual);
ADDHANDLE(idx++, HomeLocation);
ADDHANDLE(idx++, AHRSSettings);
ADDHANDLE(idx++, FirmwareIAPObj);
if (idx != MAX_AHRS_OBJECTS) {
PIOS_DEBUG_Assert(0);
@ -112,11 +109,8 @@ void AhrsInitHandles(void)
//When the AHRS writes to these the data does a round trip
//AHRS->OP->AHRS due to these events
#ifndef IN_AHRS
AHRSSettingsConnectCallback(ObjectUpdatedCb);
BaroAltitudeConnectCallback(ObjectUpdatedCb);
GPSPositionConnectCallback(ObjectUpdatedCb);
InsSettingsConnectCallback(ObjectUpdatedCb);
HomeLocationConnectCallback(ObjectUpdatedCb);
AHRSCalibrationConnectCallback(ObjectUpdatedCb);
FirmwareIAPObjConnectCallback(ObjectUpdatedCb);
#endif
}

10
flight/Libraries/ahrs_spi_comm.c
View File

@ -298,13 +298,11 @@ int32_t AhrsConnectCallBack(AhrsObjHandle obj, AhrsEventCallback cb)
return (0);
}
AhrsCommStatus AhrsGetStatus()
void AhrsGetStatus(AhrsCommStatus * status)
{
AhrsCommStatus status;
status.remote = rxPacket.status;
status.local = txPacket.status;
status.linkOk = linkOk;
return (status);
status->remote = rxPacket.status;
status->local = txPacket.status;
status->linkOk = linkOk;
}

14
flight/Libraries/inc/ahrs_comm_objects.h
View File

@ -29,14 +29,13 @@
#include "attitudeactual.h"
#include "attituderaw.h"
#include "ahrsstatus.h"
#include "baroaltitude.h"
#include "gpsposition.h"
#include "homelocation.h"
#include "insstatus.h"
#include "inssettings.h"
#include "positionactual.h"
#include "velocityactual.h"
#include "homelocation.h"
#include "ahrscalibration.h"
#include "ahrssettings.h"
#include "firmwareiapobj.h"
/** union that will fit any UAVObject.
@ -45,20 +44,19 @@
typedef union {
AttitudeRawData AttitudeRaw;
AttitudeActualData AttitudeActual;
AHRSCalibrationData AHRSCalibration;
AhrsStatusData AhrsStatus;
InsStatusData AhrsStatus;
BaroAltitudeData BaroAltitude;
GPSPositionData GPSPosition;
PositionActualData PositionActual;
VelocityActualData VelocityActual;
HomeLocationData HomeLocation;
AHRSSettingsData AHRSSettings;
InsSettingsData InsSettings;
FirmwareIAPObjData FirmwareIAPObj;
} __attribute__ ((packed)) AhrsSharedData;
/** The number of UAVObjects we will be dealing with.
*/
#define MAX_AHRS_OBJECTS 11
#define MAX_AHRS_OBJECTS 10
/** Our own version of a UAVObject.
*/

2
flight/Libraries/inc/ahrs_spi_comm.h
View File

@ -110,7 +110,7 @@ int32_t AhrsConnectCallBack(AhrsObjHandle obj, AhrsEventCallback cb);
Returns: the status.
Note: the remote status will only be valid if the link is up and running
*/
AhrsCommStatus AhrsGetStatus();
void AhrsGetStatus(AhrsCommStatus * status);
#ifdef IN_AHRS //slave only
/** Send the latest objects to the OP

24
flight/Modules/AHRSComms/ahrs_comms.c
View File

@ -52,11 +52,10 @@
#include "ahrs_comms.h"
#include "ahrs_spi_comm.h"
#include "ahrsstatus.h"
#include "ahrscalibration.h"
#include "insstatus.h"
// Private constants
#define STACK_SIZE configMINIMAL_STACK_SIZE-128
#define STACK_SIZE configMINIMAL_STACK_SIZE
#define TASK_PRIORITY (tskIDLE_PRIORITY+4)
// Private types
@ -87,9 +86,10 @@ int32_t AHRSCommsStart(void)
*/
int32_t AHRSCommsInitialize(void)
{
AhrsStatusInitialize();
AHRSCalibrationInitialize();
InsStatusInitialize();
InsSettingsInitialize();
AttitudeRawInitialize();
AttitudeActualInitialize();
VelocityActualInitialize();
PositionActualInitialize();
@ -109,19 +109,17 @@ static void ahrscommsTask(void *parameters)
// Main task loop
while (1) {
PIOS_WDG_UpdateFlag(PIOS_WDG_AHRS);
AHRSSettingsData settings;
AHRSSettingsGet(&settings);
AhrsCommStatus stat;
AhrsSendObjects();
AhrsCommStatus stat = AhrsGetStatus();
AhrsGetStatus(&stat);
if (stat.linkOk) {
AlarmsClear(SYSTEMALARMS_ALARM_AHRSCOMMS);
} else {
AlarmsSet(SYSTEMALARMS_ALARM_AHRSCOMMS, SYSTEMALARMS_ALARM_WARNING);
}
AhrsStatusData sData;
AhrsStatusGet(&sData);
InsStatusData sData;
InsStatusGet(&sData);
sData.LinkRunning = stat.linkOk;
sData.AhrsKickstarts = stat.remote.kickStarts;
@ -132,9 +130,9 @@ static void ahrscommsTask(void *parameters)
sData.OpRetries = stat.local.retries;
sData.OpInvalidPackets = stat.local.invalidPacket;
AhrsStatusSet(&sData);
InsStatusSet(&sData);
/* Wait for the next update interval */
vTaskDelayUntil(&lastSysTime, settings.UpdatePeriod / portTICK_RATE_MS);
vTaskDelayUntil(&lastSysTime, 1 / portTICK_RATE_MS);
}
}

5
flight/OpenPilot/UAVObjects.inc
View File

@ -28,9 +28,8 @@ UAVOBJSRCFILENAMES += accessorydesired
UAVOBJSRCFILENAMES += actuatorcommand
UAVOBJSRCFILENAMES += actuatordesired
UAVOBJSRCFILENAMES += actuatorsettings
UAVOBJSRCFILENAMES += ahrscalibration
UAVOBJSRCFILENAMES += ahrssettings
UAVOBJSRCFILENAMES += ahrsstatus
UAVOBJSRCFILENAMES += inssettings
UAVOBJSRCFILENAMES += insstatus
UAVOBJSRCFILENAMES += attitudeactual
UAVOBJSRCFILENAMES += attituderaw
UAVOBJSRCFILENAMES += baroaltitude

2
flight/PiOS/STM32F10x/link_STM3210E_OP_BL_sections.ld
View File

@ -1,5 +1,5 @@
/* This is the size of the stack for early init and for all FreeRTOS IRQs */
_irq_stack_size = 0x400;
_irq_stack_size = 0x800;
/* Check valid alignment for VTOR */
ASSERT(ORIGIN(BL_FLASH) == ALIGN(ORIGIN(BL_FLASH), 0x80), "Start of memory region flash not aligned for startup vector table");

23
ground/openpilotgcs/src/plugins/coreplugin/OpenPilotGCS.xml
View File

@ -989,29 +989,6 @@
</default>
</ImportExportGadget>
<LineardialGadget>
<AHRS__PCT__20CPU>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<dFile>%%DATAPATH%%dials/default/lineardial-vertical.svg</dFile>
<decimalPlaces>0</decimalPlaces>
<factor>1</factor>
<font>Andale Mono,12,-1,5,75,0,0,0,0,0</font>
<greenMax>50</greenMax>
<greenMin>0</greenMin>
<maxValue>100</maxValue>
<minValue>0</minValue>
<redMax>100</redMax>
<redMin>80</redMin>
<sourceDataObject>AhrsStatus</sourceDataObject>
<sourceObjectField>CPULoad</sourceObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
<yellowMax>80</yellowMax>
<yellowMin>50</yellowMin>
</data>
</AHRS__PCT__20CPU>
<Accel__PCT__20Horizontal__PCT__20X>
<configInfo>
<locked>false</locked>

10
ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro
View File

@ -24,11 +24,10 @@ OTHER_FILES += UAVObjects.pluginspec
# Add in all of the synthetic/generated uavobject files
HEADERS += $$UAVOBJECT_SYNTHETICS/accessorydesired.h \
$$UAVOBJECT_SYNTHETICS/ahrsstatus.h \
$$UAVOBJECT_SYNTHETICS/ahrscalibration.h \
$$UAVOBJECT_SYNTHETICS/insstatus.h \
$$UAVOBJECT_SYNTHETICS/baroaltitude.h \
$$UAVOBJECT_SYNTHETICS/attitudeactual.h \
$$UAVOBJECT_SYNTHETICS/ahrssettings.h \
$$UAVOBJECT_SYNTHETICS/inssettings.h \
$$UAVOBJECT_SYNTHETICS/gcstelemetrystats.h \
$$UAVOBJECT_SYNTHETICS/attituderaw.h \
$$UAVOBJECT_SYNTHETICS/camerastabsettings.h \
@ -74,11 +73,10 @@ HEADERS += $$UAVOBJECT_SYNTHETICS/accessorydesired.h \
$$UAVOBJECT_SYNTHETICS/cameradesired.h
SOURCES += $$UAVOBJECT_SYNTHETICS/accessorydesired.cpp \
$$UAVOBJECT_SYNTHETICS/ahrsstatus.cpp \
$$UAVOBJECT_SYNTHETICS/ahrscalibration.cpp \
$$UAVOBJECT_SYNTHETICS/insstatus.cpp \
$$UAVOBJECT_SYNTHETICS/baroaltitude.cpp \
$$UAVOBJECT_SYNTHETICS/attitudeactual.cpp \
$$UAVOBJECT_SYNTHETICS/ahrssettings.cpp \
$$UAVOBJECT_SYNTHETICS/inssettings.cpp \
$$UAVOBJECT_SYNTHETICS/gcstelemetrystats.cpp \
$$UAVOBJECT_SYNTHETICS/attituderaw.cpp \
$$UAVOBJECT_SYNTHETICS/camerastabsettings.cpp \

23
shared/uavobjectdefinition/ahrscalibration.xml
View File

@ -1,23 +0,0 @@
<xml>
<object name="AHRSCalibration" singleinstance="true" settings="true">
<description>Contains the calibration settings for the @ref AHRSCommsModule</description>
<field name="measure_var" units="" type="enum" elements="1" options="SET,MEASURE" defaultvalue="SET"/>
<field name="accel_bias" units="m/s" type="float" elementnames="X,Y,Z" defaultvalue="-73.5,-73.5,73.5"/>
<field name="accel_scale" units="(m/s)/lsb" type="float" elementnames="X,Y,Z" defaultvalue="0.0359,0.0359,0.0359"/>
<field name="accel_ortho" units="scale" type="float" elementnames="XY,XZ,YZ" defaultvalue="0.0,0.0,0.0"/>
<field name="accel_var" units="(m/s)^2" type="float" elementnames="X,Y,Z" defaultvalue="5e-4"/>
<field name="gyro_bias" units="rad/s" type="float" elementnames="X,Y,Z" defaultvalue="28,-28,28"/>
<field name="gyro_scale" units="(rad/s)/lsb" type="float" elementnames="X,Y,Z" defaultvalue="-0.017,0.017,-0.017"/>
<field name="gyro_var" units="(rad/s)^2" type="float" elementnames="X,Y,Z" defaultvalue="1e-4"/>
<field name="gyro_tempcompfactor" units="raw/raw" type="float" elementnames="X,Y,Z" defaultvalue="0"/>
<field name="mag_bias" units="mGau" type="float" elementnames="X,Y,Z" defaultvalue="0"/>
<field name="mag_scale" units="(mGau)/lsb" type="float" elementnames="X,Y,Z" defaultvalue="1"/>
<field name="mag_var" units="mGau^2" type="float" elementnames="X,Y,Z" defaultvalue="50"/>
<field name="vel_var" units="(m/s)^2" type="float" elements="1" defaultvalue="10"/>
<field name="pos_var" units="m^2" type="float" elements="1" defaultvalue="0.04"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>
<logging updatemode="never" period="0"/>
</object>
</xml>

16
shared/uavobjectdefinition/ahrssettings.xml
View File

@ -1,16 +0,0 @@
<xml>
<object name="AHRSSettings" singleinstance="true" settings="true">
<description>Settings for the @ref AHRSCommsModule to control the algorithm and what is updated</description>
<field name="Algorithm" units="" type="enum" elements="1" options="SIMPLE,INSGPS_INDOOR_NOMAG,INSGPS_INDOOR,INSGPS_OUTDOOR" defaultvalue="INSGPS_INDOOR_NOMAG"/>
<field name="Downsampling" units="" type="uint8" elements="1" defaultvalue="20"/>
<field name="UpdatePeriod" units="ms" type="uint8" elements="1" defaultvalue="1"/>
<field name="BiasCorrectedRaw" units="" type="enum" elements="1" options="TRUE,FALSE" defaultvalue="TRUE"/>
<field name="YawBias" units="" type="float" elements="1" defaultvalue="0"/>
<field name="PitchBias" units="" type="float" elements="1" defaultvalue="0"/>
<field name="RollBias" units="" type="float" elements="1" defaultvalue="0"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>
<logging updatemode="never" period="0"/>
</object>
</xml>

25
shared/uavobjectdefinition/inssettings.xml Normal file
View File

@ -0,0 +1,25 @@
<xml>
<object name="InsSettings" singleinstance="true" settings="true">
<description>Settings for the INS to control the algorithm and what is updated</description>
<field name="Algorithm" units="" type="enum" elements="1" options="NONE,SIMPLE,CALIBRATION,INSGPS_INDOOR_NOMAG,INSGPS_INDOOR,INSGPS_OUTDOOR" defaultvalue="INSGPS_INDOOR_NOMAG"/>
<field name="BiasCorrectedRaw" units="" type="enum" elements="1" options="TRUE,FALSE" defaultvalue="TRUE"/>
<!-- Sensor noises -->
<field name="accel_bias" units="m/s" type="float" elementnames="X,Y,Z" defaultvalue="0,0,0"/>
<field name="accel_scale" units="gain" type="float" elementnames="X,Y,Z" defaultvalue="1,1,1"/>
<field name="accel_var" units="(m/s)^2" type="float" elementnames="X,Y,Z" defaultvalue="5e-4"/>
<field name="gyro_bias" units="deg/s" type="float" elementnames="X,Y,Z" defaultvalue="0,0,0"/>
<field name="gyro_scale" units="gain" type="float" elementnames="X,Y,Z" defaultvalue="0,0,0"/>
<field name="gyro_var" units="(deg/s)^2" type="float" elementnames="X,Y,Z" defaultvalue="1e-4"/>
<field name="mag_bias" units="mGau" type="float" elementnames="X,Y,Z" defaultvalue="0,0,0"/>
<field name="mag_scale" units="gain" type="float" elementnames="X,Y,Z" defaultvalue="1"/>
<field name="mag_var" units="mGau^2" type="float" elementnames="X,Y,Z" defaultvalue="50"/>
<field name="vel_var" units="(m/s)^2" type="float" elements="1" defaultvalue="10"/>
<field name="pos_var" units="m^2" type="float" elements="1" defaultvalue="0.04"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>
<logging updatemode="never" period="0"/>
</object>
</xml>

2
shared/uavobjectdefinition/ahrsstatus.xml → shared/uavobjectdefinition/insstatus.xml
View File

@ -1,5 +1,5 @@
<xml>
<object name="AhrsStatus" singleinstance="true" settings="false">
<object name="InsStatus" singleinstance="true" settings="false">
<description>Status for the @ref AHRSCommsModule, including communication errors</description>
<field name="SerialNumber" units="" type="uint8" elements="8"/>
<field name="CPULoad" units="count" type="uint8" elements="1"/>