[paparazzi-commits] [paparazzi/paparazzi] dfd8e9: State interface input filter (#3409)

[Gautier Hattenberger]

  Branch: refs/heads/master
  Home:   https://github.com/paparazzi/paparazzi
  Commit: dfd8e939277d0ba6a222a9b4314ec0163d6c2b52
      
https://github.com/paparazzi/paparazzi/commit/dfd8e939277d0ba6a222a9b4314ec0163d6c2b52
  Author: Gautier Hattenberger <gautier.hattenberger@enac.fr>
  Date:   2024-12-03 (Tue, 03 Dec 2024)

  Changed paths:
    M conf/abi.xml
    R conf/airframes/examples/lisa_l_chimu.xml
    R conf/modules/ahrs_chimu_spi.xml
    R conf/modules/ahrs_chimu_uart.xml
    M conf/modules/ahrs_common.xml
    M conf/modules/ahrs_float_cmpl_quat.xml
    M conf/modules/ahrs_float_cmpl_rmat.xml
    M conf/modules/ahrs_float_dcm.xml
    M conf/modules/ahrs_float_invariant.xml
    M conf/modules/ahrs_float_mlkf.xml
    M conf/modules/ahrs_int_cmpl_quat.xml
    M conf/modules/ahrs_madgwick.xml
    M conf/modules/ahrs_sim.xml
    M conf/modules/ahrs_vectornav.xml
    M conf/modules/ins.xml
    M conf/modules/ins_alt_float.xml
    M conf/modules/ins_ekf2.xml
    M conf/modules/ins_ext_pose.xml
    M conf/modules/ins_extended.xml
    M conf/modules/ins_float_invariant.xml
    M conf/modules/ins_flow.xml
    M conf/modules/ins_gps_passthrough.xml
    M conf/modules/ins_hff.xml
    M conf/modules/ins_hff_extended.xml
    A conf/modules/ins_int_common.xml
    M conf/modules/ins_mekf_wind.xml
    M conf/modules/ins_nps.xml
    M conf/modules/ins_sim.xml
    M conf/modules/ins_skeleton.xml
    M conf/modules/ins_vectornav.xml
    M sw/airborne/arch/sim/modules/ins/ins_arduimu.c
    M sw/airborne/arch/sim/modules/ins/ins_arduimu_basic.c
    M sw/airborne/firmwares/rotorcraft/navigation.c
    M sw/airborne/firmwares/rotorcraft/navigation.h
    M sw/airborne/firmwares/rover/navigation.c
    M sw/airborne/firmwares/rover/navigation.h
    M sw/airborne/modules/ahrs/ahrs.c
    M sw/airborne/modules/ahrs/ahrs.h
    R sw/airborne/modules/ahrs/ahrs_chimu.h
    R sw/airborne/modules/ahrs/ahrs_chimu_spi.c
    R sw/airborne/modules/ahrs/ahrs_chimu_uart.c
    M sw/airborne/modules/ahrs/ahrs_float_cmpl_wrapper.c
    M sw/airborne/modules/ahrs/ahrs_float_cmpl_wrapper.h
    M sw/airborne/modules/ahrs/ahrs_float_dcm_wrapper.c
    M sw/airborne/modules/ahrs/ahrs_float_dcm_wrapper.h
    M sw/airborne/modules/ahrs/ahrs_float_invariant_wrapper.c
    M sw/airborne/modules/ahrs/ahrs_float_invariant_wrapper.h
    M sw/airborne/modules/ahrs/ahrs_float_mlkf_wrapper.c
    M sw/airborne/modules/ahrs/ahrs_float_mlkf_wrapper.h
    M sw/airborne/modules/ahrs/ahrs_int_cmpl_quat_wrapper.c
    M sw/airborne/modules/ahrs/ahrs_int_cmpl_quat_wrapper.h
    M sw/airborne/modules/ahrs/ahrs_madgwick_wrapper.c
    M sw/airborne/modules/ahrs/ahrs_madgwick_wrapper.h
    M sw/airborne/modules/ahrs/ahrs_sim.c
    M sw/airborne/modules/ahrs/ahrs_sim.h
    M sw/airborne/modules/ahrs/ahrs_vectornav.c
    M sw/airborne/modules/ahrs/ahrs_vectornav_wrapper.c
    M sw/airborne/modules/ahrs/ahrs_vectornav_wrapper.h
    M sw/airborne/modules/air_data/air_data.c
    M sw/airborne/modules/computer_vision/cv_target_localization.c
    M sw/airborne/modules/computer_vision/tag_tracking.c
    M sw/airborne/modules/ctrl/follow_me.c
    M sw/airborne/modules/ctrl/target_pos.c
    M sw/airborne/modules/datalink/mavlink.c
    M sw/airborne/modules/datalink/missionlib/waypoints.c
    R sw/airborne/modules/ins/imu_chimu.c
    R sw/airborne/modules/ins/imu_chimu.h
    M sw/airborne/modules/ins/ins.c
    M sw/airborne/modules/ins/ins.h
    M sw/airborne/modules/ins/ins_alt_float.c
    M sw/airborne/modules/ins/ins_arduimu.c
    M sw/airborne/modules/ins/ins_arduimu_basic.c
    M sw/airborne/modules/ins/ins_ekf2.cpp
    M sw/airborne/modules/ins/ins_ext_pose.c
    M sw/airborne/modules/ins/ins_float_invariant.c
    M sw/airborne/modules/ins/ins_float_invariant.h
    M sw/airborne/modules/ins/ins_float_invariant_wrapper.c
    M sw/airborne/modules/ins/ins_flow.c
    M sw/airborne/modules/ins/ins_gps_passthrough.c
    M sw/airborne/modules/ins/ins_gps_passthrough_utm.c
    M sw/airborne/modules/ins/ins_int.c
    M sw/airborne/modules/ins/ins_mekf_wind_wrapper.c
    M sw/airborne/modules/ins/ins_skeleton.c
    M sw/airborne/modules/ins/ins_vectornav.c
    M sw/airborne/modules/ins/ins_vn100.c
    M sw/airborne/modules/ins/ins_xsens.c
    M sw/airborne/modules/ins/ins_xsens700.c
    M sw/airborne/modules/meteo/wind_estimation_quadrotor.c
    M sw/airborne/modules/meteo/wind_estimator.c
    M sw/airborne/modules/mission/copilot_rotorcraft.c
    M sw/airborne/modules/mission/mission_rotorcraft_nav.c
    M sw/airborne/modules/multi/traffic_info.c
    M sw/airborne/modules/nav/common_nav.c
    M sw/airborne/modules/nav/nav_survey_hybrid.c
    M sw/airborne/modules/nav/nav_takeoff_and_landing_fw.c
    M sw/airborne/modules/nav/nav_takeoff_and_landing_rotorcraft.c
    M sw/airborne/modules/nav/waypoints.c
    M sw/airborne/modules/sensors/airspeed_adc.c
    M sw/airborne/modules/sensors/airspeed_amsys.c
    M sw/airborne/modules/sensors/airspeed_ets.c
    M sw/airborne/modules/sensors/aoa_adc.c
    M sw/airborne/state.c
    M sw/airborne/state.h
    M sw/simulator/nps/nps_autopilot_fixedwing.c
    M sw/simulator/nps/nps_autopilot_rotorcraft.c
    M sw/simulator/nps/nps_autopilot_rover.c
    M sw/tools/generators/gen_modules.ml
    M tests/math/test_state_interface.c
    M tests/modules/test_modules.py

  Log Message:
  -----------
  State interface input filter (#3409)

* [generator] generate unique ID and names table for modules
* [state] add accessors for the state origin
* [state] don't access directly to state origin, use getters
* [state] filter inputs with module ID
* [ahrs] convert AHRS modules to state input filter
- selection of ahrs with settings from each module
- init functions for each ahrs modules
- remove old chimu
* update unit test
* [ins] decoupled INS implementation
To allow multiple INS at the same time:
- remove weak functions from ins.c
- remove the INS_TYPE_H define
- use ABI message to trigger INS reset
* [state] protect for c++



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