Subsystem/ins
Revision as of 20:17, 3 March 2014 by AndrewChambers (talk | contribs) (fleshing out the sections with descriptions from the conf files)
INS subsystem
The INS (Inertial Navigation System) subsystem specifies which position and velocity estimation algorithm you are using.
Most of the INS filters are only providing position and speed, and they need to be used together with an AHRS filter for attitude. Currently, only the experimental invariant filter is a full INS.
Currently possible AHRS subsystem types are
- alt_float
- gps_passthrough
- xsens
- xsens700
- no_type
- hff
- extended
- ardrone2
- float_invariant
e.g. for the extended filter:
| File: conf/airframes/myplane.xml |
<firmware name="fixedwing or rotorcraft">
...
<subsystem name="ins" type="extended"/>
</firmware>
|
Implementations
alt_float
GPS passthrough (gps_passthrough)
xsens
XSens Mti-G
<subsystem name="ins" type="xsens">
<configure name="XSENS_UART_NR" value="0"/>
<configure name="XSENS_UART_BAUD" value="B115200"/>
</subsystem>
xsend700
XSens Mti-G
<load name="ins_xsens_MTiG_fixedwing.xml">
<configure name="XSENS_UART_NR" value="0"/>
</load>
no_type
simple INS with float vertical filter
<subsystem name="ins"/>
Horizontal Filter Float (hff)
simple with float vertical and horizontal filters for INS
extended
extended INS with vertical filter using sonar in a better way (flap ground)
ardrone2
simple INS with float vertical filter
float_invariant
attitude and speed estimation for fixedwings via invariant filter