ins_mekf_wind

MEKF-Wind INS estimator. Estimates attitude, velocity, position, (gyro, accel, baro) biases and wind velocity. Using Eigen for math operations. Only for fixed-wing firmware.

Configures

Name	Value	Description
USE_MAGNETOMETER	TRUE|FALSE	use magnetometer
AHRS_ALIGNER_LED	2	LED number to indicate if AHRS/INS is aligned

Defines

Name	Value	Description
LOG_MEKF_WIND	FALSE|TRUE	enable logging on SD card (default: FALSE)

Section MEKF_WIND

INS_MEKF_WIND_
Name	Value	Description
DISABLE_WIND	FALSE|TRUE	Disable wind estimation (true by default)
P0_QUAT	0.007615	Initial covariance on quaternion
P0_SPEED	1E+2	Initial covariance on speed
P0_POS	1E+1	Initial covariance on position
P0_RATES_BIAS	1E-5	Initial covariance on gyrometers bias
P0_ACCEL_BIAS	1E-5	Initial covariance on accelerometers bias
P0_WIND	1.	Initial covariance on wind estimate
Q_GYRO	1E-2	Process noise on gyrometers
Q_ACCEL	1E-2	Process noise on accelerometers
Q_RATES_BIAS	1E-6	Process noise on gyrometers bias
Q_ACCEL_BIAS	1E-6	Process noise on accelerometers bias
Q_BARO_BIAS	1E-3	Process noise on baro bias
Q_WIND	1.	Process nois on wind estimate
R_SPEED	0.1	Measurement noise on speed
R_SPEED_Z	0.2	Measurement noise on vertical speed
R_POS	2.	Measurement noise on position
R_POS_Z	4.	Measurement noise on vertical position
R_MAG	1.	Measurement noise on magnetometers
R_BARO	2.	Measurement noise on barometer
R_AIRSPEED	0.1	Measurement noise en airspeed
R_AOA	0.1	Measurement noise on angle of attack
R_AOS	0.1	Measurement noise on sideslip angle

Depends

• @imu
• @gps
• @airspeed

Provides

• ahrs
• ins

Sections