ins_skeleton

INS module skeleton. This module is meant to be used with an additional module which implements any of the following - ins_module_init() - ins_module_propagate(struct Int32Vect3 *accel, float dt) - ins_module_update_gps(struct GpsState *gps_s, float dt) - ins_module_update_baro(float pressure) - ins_module_reset_local_origin(void) In each of those functions the updated estimate has to be written to the ins_module struct, which is then used to update the state interface.

Defines

Name

Value

Description

INS_MODULE_IMU_ID

ABI_BROADCAST

ABI sender id of IMU messages to subscribe to

INS_MODULE_BARO_ID

ABI_BROADCAST

ABI sender id of BARO_ABS messages to subscribe to

INS_MODULE_GPS_ID

GPS_MULTI_ID

ABI sender id of GPS messages to subscribe to

Depends

  • @imu
  • @gps

Provides

  • ins