insgps.h

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/*
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
 * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
 * for more details.
 *
 * You should have received a copy of the GNU General Public License along
 * with this program; if not, see <http://www.gnu.org/licenses/>
 */

#ifndef INSGPS_H_
#define INSGPS_H_

#include "stdint.h"
#include "stdbool.h"

#define POS_SENSORS 0x007
#define HORIZ_POS_SENSORS 0x003
#define VERT_POS_SENSORS 0x004
#define HORIZ_VEL_SENSORS 0x018
#define VERT_VEL_SENSORS  0x020
#define MAG_SENSORS 0x1C0
#define BARO_SENSOR 0x200

#define FULL_SENSORS 0x3FF

/****************************************************/
/****************************************************/

void INSGPSInit();

void INSStatePrediction(const float gyro_data[3], const float accel_data[3], float dT);

void INSCovariancePrediction(float dT);

void INSCorrection(const float mag_data[3], const float Pos[3], const float Vel[3], float BaroAlt, uint16_t SensorsUsed);

void INSGetState(float *pos, float *vel, float *attitude, float *gyro_bias, float *accel_bias);

void INSSetArmed(bool armed);

/****************************************************/
/****************************************************/

void INSResetP(const float *PDiag);
void INSSetState(const float pos[3], const float vel[3], const float q[4], const float gyro_bias[3], const float accel_bias[3]);
void INSSetPosVelVar(float PosVar, float VelVar, float VertPosVar);
void INSSetGyroBias(const float gyro_bias[3]);
void INSSetAccelBias(const float gyro_bias[3]);
void INSSetAccelVar(const float accel_var[3]);
void INSSetGyroVar(const float gyro_var[3]);
void INSSetMagNorth(const float B[3]);
void INSSetMagVar(const float scaled_mag_var[3]);
void INSSetBaroVar(float baro_var);
void INSPosVelReset(const float pos[3], const float vel[3]);

void INSGetVariance(float *p);

uint16_t ins_get_num_states();

#endif /* INSGPS_H_ */