Subsystem/ins

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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