Phase-1 configuration: P-NUCLEO-WB55 (NUCLEO-WB55RG) + X-NUCLEO-IKS4A1 in Mode 3 (LSM6DSV16X is the sensor-hub master, LIS2MDL sits behind it). More...

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Macros
#define	DEG2RAD_F 0.017453292519943295f

#define	APP_IMU_ODR IMU_ODR_960HZ

#define	APP_IMU_WATERMARK 4u
	FIFO words: 2 gyro + 2 acc -> IRQ at 960 Hz.

#define	APP_GY_LPF1_BW LSM6DSV16X_GY_LIGHT
	gyro anti-alias filter: to be tuned

#define	APP_XL_LPF2_ENABLE 1

#define	APP_XL_LPF2_BW LSM6DSV16X_XL_STRONG

#define	APP_MAG_FAST 1
	LIS2MDL 100 Hz, hub 120 Hz: halves the age of mag data.

#define	APP_STEP_HZ 960u
	propagation + rate loop

#define	APP_STEPS_PER_ACC 4u
	-> 240 Hz acc update + attitude loop

#define	APP_CALIB_SAMPLES 100u
	mag samples at ~50 Hz -> ~2 s standing still

#define	APP_CALIB_GYRO_STILL (5.0f * DEG2RAD_F)

#define	IEKF_SIGMA_GYRO (0.5f * DEG2RAD_F)

#define	IEKF_SIGMA_BIAS 1e-4f

#define	IEKF_SIGMA_VEC_MIN 0.01f

#define	IEKF_ACC_TOL 0.08f

#define	IEKF_MAG_TOL 0.08f

#define	IEKF_P0_ATT ((2.0f * DEG2RAD_F) * (2.0f * DEG2RAD_F))

#define	IEKF_P0_BIAS ((0.2f * DEG2RAD_F) * (0.2f * DEG2RAD_F))

#define	IEKF_ESTIMATE_BIAS 1

#define	IEKF_ADAPTIVE 1

#define	IEKF_TILT_COMP_MAG 1

#define	IEKF_ACC_NIS_GATE 4.0f

#define	IEKF_MAG_NIS_GATE 0.0f
	not recommended, see iekf.h

#define	IEKF_INFL_TAU_S 0.5f

#define	IEKF_DIP_TOL (5.0f * DEG2RAD_F)

#define	IEKF_DECOUPLE 0
	tried: does not help, see 03 - Docs/theory/iekf-embedded.md

#define	IEKF_RESET_JACOBIAN 1

#define	IEKF_TANGENT_INNOV 1

#define	IEKF_INFL_MAX 100.0f

#define	IEKF_LOCKOUT_S 0.5f

#define	IEKF_LOCKOUT_BUMP ((10.0f * DEG2RAD_F) * (10.0f * DEG2RAD_F))

#define	IEKF_GRACE_S 0.25f

#define	IEKF_PERSIST_TAU_S 1.0f

#define	IEKF_PERSIST_RATIO 0.6f

#define	IEKF_PERSIST_MIN 0.02f

#define	APP_PROFILE_PREVIOUS 0

#define	APP_STILL_ACC_TOL 0.02f

#define	APP_STILL_GYRO_THR (3.0f * DEG2RAD_F)

#define	APP_STILL_TIME_S 0.3f

#define	APP_COMPARE_ORIGINAL 0

#define	MAG_AXIS_MAP { 1.0f, 0.0f, 0.0f, 0.0f, -1.0f, 0.0f, 0.0f, 0.0f, -1.0f }

#define	MAG_HARD_IRON { 31.61f, 16.44f, -26.23f }
	uT, body frame

#define	APP_TLM_DECIMATION 1u
	1 = every acc update (240 Hz), ~18.5 kB/s

#define	APP_TLM_DECIM_REPLAY

#define	APP_TLM_TX_TIMEOUT_MS 20u
	max wait for the UART DMA before dropping

#define	APP_INIT_EVERY_N 480u
	repeat INIT ~once per second (2 frames per window)

#define	APP_TLM_REPLAY

#define	APP_TLM_BLE

#define	APP_BLE_STATE_DECIM

#define	APP_BLE_FLUSH_MS

#define	APP_BLE_CONN_INT_MIN 12u
	x1.25 ms = 15 ms (iOS minimum)

#define	APP_BLE_CONN_INT_MAX 24u
	x1.25 ms = 30 ms (iOS: max >= min + 15 ms)

#define	APP_BLE_SUPERV_TIMEOUT 400u
	x10 ms = 4 s

#define	APP_HW_REV 'N'
	CAPS hwRev: 'N' = NUCLEO-WB55 + IKS4A1 bench, 'A' = ACwing FC rev A.

#define	APP_FLOW_SIGN_X (1.0f)

#define	APP_FLOW_SIGN_Y (1.0f)

#define	APP_FLOW_MIN_H 0.08f

#define	APP_BATT_ADC 0

#define	APP_BATT_VBAT_CH 1u

#define	APP_BATT_VBAT_PORT GPIOC

#define	APP_BATT_VBAT_PIN (1u << 0)

#define	APP_BATT_CUR_CH 2u

#define	APP_BATT_CUR_PORT GPIOC

#define	APP_BATT_CUR_PIN (1u << 1)

#define	APP_BATT_CURRENT 1
	a current sensor is wired (CAPS CURRENT)

#define	APP_BATT_SENS_V_A 0.1f
	ACwing ESC 1S: TSC213 + 2 mOhm = 0.1 V/A

#define	APP_LOG_FLASH 1

#define	APP_LOG_RAM_KB 48u
	RAM log on the bench: ~14 s at ~3.4 kB/s

#define	APP_USB_CDC 1
	NUCLEO-WB55: USB_USER connector (CN1)

#define	APP_USB_TLM 1

Detailed Description

Phase-1 configuration: P-NUCLEO-WB55 (NUCLEO-WB55RG) + X-NUCLEO-IKS4A1 in Mode 3 (LSM6DSV16X is the sensor-hub master, LIS2MDL sits behind it).

Every tunable parameter of the application lives here.

Definition in file app_config.h.

Macro Definition Documentation

◆ DEG2RAD_F

#define DEG2RAD_F 0.017453292519943295f

Definition at line 10 of file app_config.h.

◆ APP_IMU_ODR

#define APP_IMU_ODR IMU_ODR_960HZ

Definition at line 16 of file app_config.h.

◆ APP_IMU_WATERMARK

#define APP_IMU_WATERMARK 4u

FIFO words: 2 gyro + 2 acc -> IRQ at 960 Hz.

Definition at line 17 of file app_config.h.

◆ APP_GY_LPF1_BW

#define APP_GY_LPF1_BW LSM6DSV16X_GY_LIGHT

gyro anti-alias filter: to be tuned

Definition at line 18 of file app_config.h.

◆ APP_XL_LPF2_ENABLE

#define APP_XL_LPF2_ENABLE 1

Definition at line 19 of file app_config.h.

◆ APP_XL_LPF2_BW

#define APP_XL_LPF2_BW LSM6DSV16X_XL_STRONG

Definition at line 20 of file app_config.h.

◆ APP_MAG_FAST

#define APP_MAG_FAST 1

LIS2MDL 100 Hz, hub 120 Hz: halves the age of mag data.

Definition at line 21 of file app_config.h.

◆ APP_STEP_HZ

#define APP_STEP_HZ 960u

propagation + rate loop

Definition at line 23 of file app_config.h.

◆ APP_STEPS_PER_ACC

#define APP_STEPS_PER_ACC 4u

-> 240 Hz acc update + attitude loop

Definition at line 24 of file app_config.h.

◆ APP_CALIB_SAMPLES

#define APP_CALIB_SAMPLES 100u

mag samples at ~50 Hz -> ~2 s standing still

Definition at line 26 of file app_config.h.

◆ APP_CALIB_GYRO_STILL

#define APP_CALIB_GYRO_STILL (5.0f * DEG2RAD_F)

Definition at line 27 of file app_config.h.

◆ IEKF_SIGMA_GYRO

#define IEKF_SIGMA_GYRO (0.5f * DEG2RAD_F)

Definition at line 38 of file app_config.h.

◆ IEKF_SIGMA_BIAS

#define IEKF_SIGMA_BIAS 1e-4f

Definition at line 39 of file app_config.h.

◆ IEKF_SIGMA_VEC_MIN

#define IEKF_SIGMA_VEC_MIN 0.01f

Definition at line 40 of file app_config.h.

◆ IEKF_ACC_TOL

#define IEKF_ACC_TOL 0.08f

Definition at line 41 of file app_config.h.

◆ IEKF_MAG_TOL

#define IEKF_MAG_TOL 0.08f

Definition at line 42 of file app_config.h.

◆ IEKF_P0_ATT

#define IEKF_P0_ATT ((2.0f * DEG2RAD_F) * (2.0f * DEG2RAD_F))

Definition at line 43 of file app_config.h.

◆ IEKF_P0_BIAS

#define IEKF_P0_BIAS ((0.2f * DEG2RAD_F) * (0.2f * DEG2RAD_F))

Definition at line 44 of file app_config.h.

◆ IEKF_ESTIMATE_BIAS

#define IEKF_ESTIMATE_BIAS 1

Definition at line 45 of file app_config.h.

◆ IEKF_ADAPTIVE

#define IEKF_ADAPTIVE 1

Definition at line 46 of file app_config.h.

◆ IEKF_TILT_COMP_MAG

#define IEKF_TILT_COMP_MAG 1

Definition at line 47 of file app_config.h.

◆ IEKF_ACC_NIS_GATE

#define IEKF_ACC_NIS_GATE 4.0f

Definition at line 57 of file app_config.h.

◆ IEKF_MAG_NIS_GATE

#define IEKF_MAG_NIS_GATE 0.0f

not recommended, see iekf.h

Definition at line 58 of file app_config.h.

◆ IEKF_INFL_TAU_S

#define IEKF_INFL_TAU_S 0.5f

Definition at line 59 of file app_config.h.

◆ IEKF_DIP_TOL

#define IEKF_DIP_TOL (5.0f * DEG2RAD_F)

Definition at line 60 of file app_config.h.

◆ IEKF_DECOUPLE

#define IEKF_DECOUPLE 0

tried: does not help, see 03 - Docs/theory/iekf-embedded.md

Definition at line 61 of file app_config.h.

◆ IEKF_RESET_JACOBIAN

#define IEKF_RESET_JACOBIAN 1

Definition at line 66 of file app_config.h.

◆ IEKF_TANGENT_INNOV

#define IEKF_TANGENT_INNOV 1

Definition at line 70 of file app_config.h.

◆ IEKF_INFL_MAX

#define IEKF_INFL_MAX 100.0f

Definition at line 71 of file app_config.h.

◆ IEKF_LOCKOUT_S

#define IEKF_LOCKOUT_S 0.5f

Definition at line 72 of file app_config.h.

◆ IEKF_LOCKOUT_BUMP

#define IEKF_LOCKOUT_BUMP ((10.0f * DEG2RAD_F) * (10.0f * DEG2RAD_F))

Definition at line 73 of file app_config.h.

◆ IEKF_GRACE_S

#define IEKF_GRACE_S 0.25f

Definition at line 74 of file app_config.h.

◆ IEKF_PERSIST_TAU_S

#define IEKF_PERSIST_TAU_S 1.0f

Definition at line 75 of file app_config.h.

◆ IEKF_PERSIST_RATIO

#define IEKF_PERSIST_RATIO 0.6f

Definition at line 76 of file app_config.h.

◆ IEKF_PERSIST_MIN

#define IEKF_PERSIST_MIN 0.02f

Definition at line 77 of file app_config.h.

◆ APP_PROFILE_PREVIOUS

#define APP_PROFILE_PREVIOUS 0

Definition at line 82 of file app_config.h.

◆ APP_STILL_ACC_TOL

#define APP_STILL_ACC_TOL 0.02f

Definition at line 91 of file app_config.h.

◆ APP_STILL_GYRO_THR

#define APP_STILL_GYRO_THR (3.0f * DEG2RAD_F)

Definition at line 92 of file app_config.h.

◆ APP_STILL_TIME_S

#define APP_STILL_TIME_S 0.3f

Definition at line 93 of file app_config.h.

◆ APP_COMPARE_ORIGINAL

#define APP_COMPARE_ORIGINAL 0

Definition at line 102 of file app_config.h.

◆ MAG_AXIS_MAP

#define MAG_AXIS_MAP { 1.0f, 0.0f, 0.0f, 0.0f, -1.0f, 0.0f, 0.0f, 0.0f, -1.0f }

Definition at line 109 of file app_config.h.

◆ MAG_HARD_IRON

#define MAG_HARD_IRON { 31.61f, 16.44f, -26.23f }

uT, body frame

Definition at line 110 of file app_config.h.

◆ APP_TLM_DECIMATION

#define APP_TLM_DECIMATION 1u

1 = every acc update (240 Hz), ~18.5 kB/s

Definition at line 112 of file app_config.h.

◆ APP_TLM_DECIM_REPLAY

#define APP_TLM_DECIM_REPLAY

Value:

8u /* with REPLAY on, STATE drops to 30 Hz:

REPLAY already carries q and bias at 240 Hz */

Definition at line 113 of file app_config.h.

◆ APP_TLM_TX_TIMEOUT_MS

#define APP_TLM_TX_TIMEOUT_MS 20u

max wait for the UART DMA before dropping

Definition at line 114 of file app_config.h.

◆ APP_INIT_EVERY_N

#define APP_INIT_EVERY_N 480u

repeat INIT ~once per second (2 frames per window)

Definition at line 115 of file app_config.h.

◆ APP_TLM_REPLAY

#define APP_TLM_REPLAY

Value:

                                          0       /* 1 only for the MATLAB comparison: raises the
                                          telemetry from ~19 to ~44 kB/s, too much for
                                          the real-time viewer -> record with
                                          tlmCapture.m and analyse offline */

Definition at line 116 of file app_config.h.

◆ APP_TLM_BLE

#define APP_TLM_BLE

Value:

1 /* 1 once STM32_WPAN (BLE) is enabled in CubeMX

and the CPU2 wireless stack is flashed */

Definition at line 121 of file app_config.h.

◆ APP_BLE_STATE_DECIM

#define APP_BLE_STATE_DECIM

Value:

                                          4u      /* STATE over BLE: 240/4 = 60 Hz (~5.4 kB/s in
                                          total with STATUS and INIT). Changeable at run
                                          time with the CMD characteristic.            */

Definition at line 122 of file app_config.h.

◆ APP_BLE_FLUSH_MS

#define APP_BLE_FLUSH_MS

Value:

10u /* TX thread period: groups frames in one

notification when the MTU allows it */

Definition at line 123 of file app_config.h.

◆ APP_BLE_CONN_INT_MIN

#define APP_BLE_CONN_INT_MIN 12u

x1.25 ms = 15 ms (iOS minimum)

Definition at line 124 of file app_config.h.

◆ APP_BLE_CONN_INT_MAX

#define APP_BLE_CONN_INT_MAX 24u

x1.25 ms = 30 ms (iOS: max >= min + 15 ms)

Definition at line 125 of file app_config.h.

◆ APP_BLE_SUPERV_TIMEOUT

#define APP_BLE_SUPERV_TIMEOUT 400u

x10 ms = 4 s

Definition at line 126 of file app_config.h.

◆ APP_HW_REV

#define APP_HW_REV 'N'

CAPS hwRev: 'N' = NUCLEO-WB55 + IKS4A1 bench, 'A' = ACwing FC rev A.

Definition at line 128 of file app_config.h.

◆ APP_FLOW_SIGN_X

#define APP_FLOW_SIGN_X (1.0f)

Definition at line 131 of file app_config.h.

◆ APP_FLOW_SIGN_Y

#define APP_FLOW_SIGN_Y (1.0f)

Definition at line 132 of file app_config.h.

◆ APP_FLOW_MIN_H

#define APP_FLOW_MIN_H 0.08f

Definition at line 136 of file app_config.h.

◆ APP_BATT_ADC

#define APP_BATT_ADC 0

Definition at line 153 of file app_config.h.

◆ APP_BATT_VBAT_CH

#define APP_BATT_VBAT_CH 1u

Definition at line 154 of file app_config.h.

◆ APP_BATT_VBAT_PORT

#define APP_BATT_VBAT_PORT GPIOC

Definition at line 155 of file app_config.h.

◆ APP_BATT_VBAT_PIN

#define APP_BATT_VBAT_PIN (1u << 0)

Definition at line 156 of file app_config.h.

◆ APP_BATT_CUR_CH

#define APP_BATT_CUR_CH 2u

Definition at line 157 of file app_config.h.

◆ APP_BATT_CUR_PORT

#define APP_BATT_CUR_PORT GPIOC

Definition at line 158 of file app_config.h.

◆ APP_BATT_CUR_PIN

#define APP_BATT_CUR_PIN (1u << 1)

Definition at line 159 of file app_config.h.

◆ APP_BATT_CURRENT

#define APP_BATT_CURRENT 1

a current sensor is wired (CAPS CURRENT)

Definition at line 161 of file app_config.h.

◆ APP_BATT_SENS_V_A

#define APP_BATT_SENS_V_A 0.1f

ACwing ESC 1S: TSC213 + 2 mOhm = 0.1 V/A

Definition at line 162 of file app_config.h.

◆ APP_LOG_FLASH

#define APP_LOG_FLASH 1

Definition at line 169 of file app_config.h.

◆ APP_LOG_RAM_KB

#define APP_LOG_RAM_KB 48u

RAM log on the bench: ~14 s at ~3.4 kB/s

Definition at line 171 of file app_config.h.

◆ APP_USB_CDC

#define APP_USB_CDC 1

NUCLEO-WB55: USB_USER connector (CN1)

Definition at line 174 of file app_config.h.

◆ APP_USB_TLM

#define APP_USB_TLM 1

Definition at line 180 of file app_config.h.

Macros

Detailed Description

Macro Definition Documentation

◆ DEG2RAD_F

◆ APP_IMU_ODR

◆ APP_IMU_WATERMARK

◆ APP_GY_LPF1_BW

◆ APP_XL_LPF2_ENABLE

◆ APP_XL_LPF2_BW

◆ APP_MAG_FAST

◆ APP_STEP_HZ

◆ APP_STEPS_PER_ACC

◆ APP_CALIB_SAMPLES

◆ APP_CALIB_GYRO_STILL

◆ IEKF_SIGMA_GYRO

◆ IEKF_SIGMA_BIAS

◆ IEKF_SIGMA_VEC_MIN

◆ IEKF_ACC_TOL

◆ IEKF_MAG_TOL

◆ IEKF_P0_ATT

◆ IEKF_P0_BIAS

◆ IEKF_ESTIMATE_BIAS

◆ IEKF_ADAPTIVE

◆ IEKF_TILT_COMP_MAG

◆ IEKF_ACC_NIS_GATE

◆ IEKF_MAG_NIS_GATE

◆ IEKF_INFL_TAU_S

◆ IEKF_DIP_TOL

◆ IEKF_DECOUPLE

◆ IEKF_RESET_JACOBIAN

◆ IEKF_TANGENT_INNOV

◆ IEKF_INFL_MAX

◆ IEKF_LOCKOUT_S

◆ IEKF_LOCKOUT_BUMP

◆ IEKF_GRACE_S

◆ IEKF_PERSIST_TAU_S

◆ IEKF_PERSIST_RATIO

◆ IEKF_PERSIST_MIN

◆ APP_PROFILE_PREVIOUS

◆ APP_STILL_ACC_TOL

◆ APP_STILL_GYRO_THR

◆ APP_STILL_TIME_S

◆ APP_COMPARE_ORIGINAL

◆ MAG_AXIS_MAP

◆ MAG_HARD_IRON

◆ APP_TLM_DECIMATION

◆ APP_TLM_DECIM_REPLAY

◆ APP_TLM_TX_TIMEOUT_MS

◆ APP_INIT_EVERY_N

◆ APP_TLM_REPLAY

◆ APP_TLM_BLE

◆ APP_BLE_STATE_DECIM

◆ APP_BLE_FLUSH_MS

◆ APP_BLE_CONN_INT_MIN

◆ APP_BLE_CONN_INT_MAX

◆ APP_BLE_SUPERV_TIMEOUT

◆ APP_HW_REV

◆ APP_FLOW_SIGN_X

◆ APP_FLOW_SIGN_Y

◆ APP_FLOW_MIN_H

◆ APP_BATT_ADC

◆ APP_BATT_VBAT_CH

◆ APP_BATT_VBAT_PORT

◆ APP_BATT_VBAT_PIN

◆ APP_BATT_CUR_CH

◆ APP_BATT_CUR_PORT

◆ APP_BATT_CUR_PIN

◆ APP_BATT_CURRENT

◆ APP_BATT_SENS_V_A

◆ APP_LOG_FLASH

◆ APP_LOG_RAM_KB

◆ APP_USB_CDC

◆ APP_USB_TLM