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ahrs_int_cmpl_euler.h File Reference

Complementary filter in euler representation (fixed-point). More...

#include "subsystems/ahrs.h"
#include "std.h"
#include "math/pprz_algebra_int.h"
#include "math/pprz_orientation_conversion.h"
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Data Structures

struct  AhrsIntCmplEuler
 

Enumerations

enum  AhrsICEStatus { AHRS_ICE_UNINIT, AHRS_ICE_RUNNING }
 

Functions

void ahrs_ice_init (void)
 
void ahrs_ice_set_body_to_imu (struct OrientationReps *body_to_imu)
 
void ahrs_ice_set_body_to_imu_quat (struct FloatQuat *q_b2i)
 
bool ahrs_ice_align (struct Int32Rates *lp_gyro, struct Int32Vect3 *lp_accel, struct Int32Vect3 *lp_mag)
 
void ahrs_ice_propagate (struct Int32Rates *gyro)
 
void ahrs_ice_update_accel (struct Int32Vect3 *accel)
 
void ahrs_ice_update_mag (struct Int32Vect3 *mag)
 

Variables

struct AhrsIntCmplEuler ahrs_ice
 

Detailed Description

Complementary filter in euler representation (fixed-point).

Definition in file ahrs_int_cmpl_euler.h.


Data Structure Documentation

struct AhrsIntCmplEuler

Definition at line 43 of file ahrs_int_cmpl_euler.h.

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Data Fields
struct OrientationReps body_to_imu
struct Int32Rates gyro_bias
struct Int32Eulers hi_res_euler
struct Int32Rates imu_rate
bool is_aligned
struct Int32Eulers ltp_to_imu_euler
float mag_offset
struct Int32Eulers measure
struct Int32Eulers measurement
int32_t reinj_1
struct Int32Eulers residual
enum AhrsICEStatus status

Enumeration Type Documentation

Enumerator
AHRS_ICE_UNINIT 
AHRS_ICE_RUNNING 

Definition at line 38 of file ahrs_int_cmpl_euler.h.

Function Documentation

void ahrs_ice_set_body_to_imu ( struct OrientationReps body_to_imu)

Definition at line 277 of file ahrs_int_cmpl_euler.c.

References ahrs_ice_set_body_to_imu_quat(), and orientationGetQuat_f().

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void ahrs_ice_set_body_to_imu_quat ( struct FloatQuat q_b2i)

Definition at line 282 of file ahrs_int_cmpl_euler.c.

References ahrs_ice, AhrsIntCmplEuler::body_to_imu, AhrsIntCmplEuler::is_aligned, AhrsIntCmplEuler::ltp_to_imu_euler, orientationGetEulers_i(), and orientationSetQuat_f().

Referenced by ahrs_ice_set_body_to_imu(), and body_to_imu_cb().

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void ahrs_ice_update_accel ( struct Int32Vect3 accel)

Definition at line 202 of file ahrs_int_cmpl_euler.c.

References ahrs_ice, get_phi_theta_measurement_fom_accel(), AhrsIntCmplEuler::measurement, NOISE_FILTER_GAIN, Int32Eulers::phi, Int32Eulers::theta, VECT3_COPY, VECT3_SDIV, and VECT3_SUM_SCALED.

Referenced by accel_cb().

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void ahrs_ice_update_mag ( struct Int32Vect3 mag)

Definition at line 224 of file ahrs_int_cmpl_euler.c.

References ahrs_ice, get_psi_measurement_from_mag(), AhrsIntCmplEuler::ltp_to_imu_euler, AhrsIntCmplEuler::measurement, Int32Eulers::phi, Int32Eulers::psi, and Int32Eulers::theta.

Referenced by mag_cb().

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Variable Documentation