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.
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