Sensor algorithms

This module contains the algorithms for the Larus soaring flight sensor.

The algorithms are used as submodules for the Larus ARM Cortex M4 data acquisition system and for the LARUS Software-In-The-Loop simulator - Sensor Data Analyzer

The algorithms include:

• A quaternion-based Attitude and Heading Reference System (AHRS)
• Real-time wind-measurement with 10Hz sampling-rate
• A Kalman-filter fusioning altitude, vertical speed and vertical acceleration for an ultra-fast variometer
• A GNSS / INS-based speed-compensation for the variometer
• A D-GNSS-based satellite-compass with sub-degree accuracy (optional)
• A self-calibrating 3d magnetic compass using a worldwide NOAA magnetic induction model
• Air-density measurement by observing pressure over GNSS-altitude
• NMEA-stream output for flight-management systems like XCsoar
• Output of application-specific data to a CAN-bus to feed cockpit-instruments

The sensor output as a set of NMEA sentences ist defined in our subproject larus-NMEA-protocol

This library is designed to be imported into another project via a .gitmodules file.

Add as submodule to repository:

 git submodule add git@github.com:larus-breeze/sw_sensor_algorithms.git lib

Init and Update submodule

 git submodule init 
 git submodule update

Open submodule folder "lib" and run "git pull" to update the submodule to the latest commit.

Clone repository including the submodules:

  git clone --recursive URL git://github.com/foo/example.git

Update submodule from using repository

Just cd into the submodules folder and use git commit, push etc.

Data formats

The libary works with binary data formats. There is a description here: Data Formats