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100 lines
3.2 KiB
C
100 lines
3.2 KiB
C
/**
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******************************************************************************
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* @addtogroup AHRS
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* @{
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* @addtogroup INSGPS
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* @{
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* @brief INSGPS is a joint attitude and position estimation EKF
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*
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* @file insgps.h
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief Include file of the INSGPS exposed functionality.
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*
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#ifndef INSGPS_H_
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#define INSGPS_H_
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#include "stdint.h"
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/**
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* @addtogroup Constants
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* @{
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*/
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#define POS_SENSORS 0x007
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#define HORIZ_POS_SENSORS 0x003
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#define VER_POS_SENSORS 0x004
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#define HORIZ_SENSORS 0x018
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#define VERT_SENSORS 0x020
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#define MAG_SENSORS 0x1C0
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#define BARO_SENSOR 0x200
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#define FULL_SENSORS 0x3FF
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/**
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* @}
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*/
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// Exposed Function Prototypes
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void INSGPSInit();
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void INSStatePrediction(float gyro_data[3], float accel_data[3], float dT);
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void INSCovariancePrediction(float dT);
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void INSCorrection(float mag_data[3], float Pos[3], float Vel[3], float BaroAlt, uint16_t SensorsUsed);
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void INSResetP(float PDiag[13]);
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void INSGetP(float PDiag[13]);
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void INSSetState(float pos[3], float vel[3], float q[4], float gyro_bias[3], float accel_bias[3]);
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void INSSetPosVelVar(float PosVar[3], float VelVar[3]);
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void INSSetGyroBias(float gyro_bias[3]);
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void INSSetAccelVar(float accel_var[3]);
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void INSSetGyroVar(float gyro_var[3]);
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void INSSetGyroBiasVar(float gyro_bias_var[3]);
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void INSSetMagNorth(float B[3]);
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void INSSetG(float g_e);
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void INSSetMagVar(float scaled_mag_var[3]);
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void INSSetBaroVar(float baro_var);
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void INSPosVelReset(float pos[3], float vel[3]);
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void MagCorrection(float mag_data[3]);
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void MagVelBaroCorrection(float mag_data[3], float Vel[3], float BaroAlt);
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void FullCorrection(float mag_data[3], float Pos[3], float Vel[3],
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float BaroAlt);
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void GpsBaroCorrection(float Pos[3], float Vel[3], float BaroAlt);
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void GpsMagCorrection(float mag_data[3], float Pos[3], float Vel[2]);
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void VelBaroCorrection(float Vel[3], float BaroAlt);
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uint16_t ins_get_num_states();
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// Nav structure containing current solution
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extern struct NavStruct {
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float Pos[3]; // Position in meters and relative to a local NED frame
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float Vel[3]; // Velocity in meters and in NED
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float q[4]; // unit quaternion rotation relative to NED
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float gyro_bias[3];
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float accel_bias[3];
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} Nav;
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/**
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* @}
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* @}
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*/
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#endif /* EKF_H_ */
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