Paparazzi UAS  v5.15_devel-202-ge01e8fc
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ahrs_float_mlkf.h
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1 /*
2  * Copyright (C) 2011-2012 Antoine Drouin <poinix@gmail.com>
3  * Copyright (C) 2013 Felix Ruess <felix.ruess@gmail.com>
4  *
5  * This file is part of paparazzi.
6  *
7  * paparazzi is free software; you can redistribute it and/or modify
8  * it under the terms of the GNU General Public License as published by
9  * the Free Software Foundation; either version 2, or (at your option)
10  * any later version.
11  *
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13  * but WITHOUT ANY WARRANTY; without even the implied warranty of
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15  * GNU General Public License for more details.
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19  * the Free Software Foundation, 59 Temple Place - Suite 330,
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21  */
22 
31 #ifndef AHRS_FLOAT_MLKF_H
32 #define AHRS_FLOAT_MLKF_H
33 
34 #include "std.h"
37 
41 };
42 
43 struct AhrsMlkf {
48 
49  struct FloatVect3 mag_h;
50 
52 
54  float P[6][6];
55  float lp_accel;
56 
59 
61  bool is_aligned;
62 };
63 
64 extern struct AhrsMlkf ahrs_mlkf;
65 
66 extern void ahrs_mlkf_init(void);
68 extern void ahrs_mlkf_set_body_to_imu_quat(struct FloatQuat *q_b2i);
69 extern bool ahrs_mlkf_align(struct FloatRates *lp_gyro, struct FloatVect3 *lp_accel,
70  struct FloatVect3 *lp_mag);
71 extern void ahrs_mlkf_propagate(struct FloatRates *gyro, float dt);
72 extern void ahrs_mlkf_update_accel(struct FloatVect3 *accel);
73 extern void ahrs_mlkf_update_mag(struct FloatVect3 *mag);
74 extern void ahrs_mlkf_update_mag_2d(struct FloatVect3 *mag);
75 extern void ahrs_mlkf_update_mag_full(struct FloatVect3 *mag);
76 
77 #endif /* AHRS_FLOAT_MLKF_H */
struct FloatQuat gibbs_cor
struct FloatVect3 mag_noise
struct FloatVect3 mag_h
struct FloatRates imu_rate
Rotational velocity in IMU frame.
void ahrs_mlkf_update_mag_2d(struct FloatVect3 *mag)
float P[6][6]
void ahrs_mlkf_init(void)
float lp_accel
void ahrs_mlkf_set_body_to_imu_quat(struct FloatQuat *q_b2i)
struct FloatRates gyro_bias
struct AhrsMlkf ahrs_mlkf
enum AhrsMlkfStatus status
Roation quaternion.
void ahrs_mlkf_propagate(struct FloatRates *gyro, float dt)
Paparazzi floating point algebra.
void ahrs_mlkf_set_body_to_imu(struct OrientationReps *body_to_imu)
bool is_aligned
void ahrs_mlkf_update_accel(struct FloatVect3 *accel)
void ahrs_mlkf_update_mag_full(struct FloatVect3 *mag)
void ahrs_mlkf_update_mag(struct FloatVect3 *mag)
struct OrientationReps body_to_imu
body_to_imu rotation
struct FloatQuat ltp_to_imu_quat
Rotation from LocalTangentPlane to IMU frame as unit quaternion.
static struct OrientationReps body_to_imu
Definition: ins_alt_float.c:93
struct FloatQuat ltp_to_body_quat
Rotation from LocalTangentPlane to body frame as unit quaternion.
Generic orientation representation and conversions.
angular rates
bool ahrs_mlkf_align(struct FloatRates *lp_gyro, struct FloatVect3 *lp_accel, struct FloatVect3 *lp_mag)
AhrsMlkfStatus