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ins_ext_pose.xml
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ins_ext_pose.xml
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<!DOCTYPE module SYSTEM "module.dtd">
<module name="ins_ext_pose" dir="ins">
<doc>
<description>
Extened Kalman filter based on https://en.wikipedia.org/wiki/Extended_Kalman_filter
Designed to merge only IMU and OptiTrack/VICON (no baro, sonar, GPS, ...)
- predict attitude and path with gyroscopes and accelerometers
- correct attitude and path with external pose and position message
- estimate gyro and accelerometer biases
Bypassed when simulating.
</description>
</doc>
<dep>
<depends>@gps,@datalink,@imu</depends>
<provides>ahrs,ins</provides>
</dep>
<header>
<file name="ins_ext_pose.h"/>
</header>
<init fun="ins_ext_pose_init()"/>
<periodic fun="ins_ext_pose_run()"/>
<datalink message="EXTERNAL_POSE" fun="ins_ext_pose_msg_update(buf)"/>
<makefile target="ap">
<define name="INS_TYPE_H" value="modules/ins/ins_ext_pose.h" type="string"/>
<file name="ins_ext_pose.c"/>
<file name="ins.c"/>
</makefile>
</module>