Paparazzi UAS
v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
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#include "modules/ins/alt_filter.h"
#include "modules/gps/gps.h"
#include "modules/sensors/baro_ets.h"
#include "mcu_periph/uart.h"
#include "pprzlink/messages.h"
#include "modules/datalink/downlink.h"
Go to the source code of this file.
Functions | |
void | kalmanInit (TypeKalman *k) |
void | kalmanEstimation (TypeKalman *k, float accVert) |
void | kalmanCorrectionGPS (TypeKalman *k, float altitude_gps) |
void | kalmanCorrectionAltimetre (TypeKalman *k, float altitude_altimetre) |
void | alt_filter_init (void) |
void | alt_filter_periodic (void) |
Variables | |
TypeKalman | alt_filter |
float | SigAltiGPS |
float | SigAltiAltimetre |
float | MarcheAleaBiaisAltimetre |
float | MarcheAleaAccelerometre |
float | last_gps_alt |
float | last_baro_alt |
void alt_filter_init | ( | void | ) |
Definition at line 49 of file alt_filter.c.
References alt_filter, kalmanInit(), last_baro_alt, last_gps_alt, MarcheAleaAccelerometre, MarcheAleaBiaisAltimetre, SigAltiAltimetre, and SigAltiGPS.
void alt_filter_periodic | ( | void | ) |
Definition at line 61 of file alt_filter.c.
References alt_filter, baro_ets_altitude, DefaultChannel, DefaultDevice, gps, GpsFixValid, GpsState::hmsl, if(), kalmanCorrectionAltimetre(), kalmanCorrectionGPS(), kalmanEstimation(), last_baro_alt, last_gps_alt, TypeKalman::P, and TypeKalman::X.
void kalmanCorrectionAltimetre | ( | TypeKalman * | k, |
float | altitude_altimetre | ||
) |
Definition at line 226 of file alt_filter.c.
References TypeKalman::P, SigAltiAltimetre, and TypeKalman::X.
Referenced by alt_filter_periodic().
void kalmanCorrectionGPS | ( | TypeKalman * | k, |
float | altitude_gps | ||
) |
Definition at line 178 of file alt_filter.c.
References TypeKalman::P, SigAltiGPS, and TypeKalman::X.
Referenced by alt_filter_periodic().
void kalmanEstimation | ( | TypeKalman * | k, |
float | accVert | ||
) |
Definition at line 130 of file alt_filter.c.
References TypeKalman::Ad, TypeKalman::Bd, J, TypeKalman::Md, TypeKalman::P, TypeKalman::W, and TypeKalman::X.
Referenced by alt_filter_periodic().
void kalmanInit | ( | TypeKalman * | k | ) |
Definition at line 91 of file alt_filter.c.
References TypeKalman::Ad, TypeKalman::Bd, MarcheAleaAccelerometre, MarcheAleaBiaisAltimetre, TypeKalman::Md, TypeKalman::P, TypeKalman::Te, TypeKalman::W, and TypeKalman::X.
Referenced by alt_filter_init().
TypeKalman alt_filter |
Definition at line 31 of file alt_filter.c.
Referenced by alt_filter_init(), and alt_filter_periodic().
float last_baro_alt |
Definition at line 47 of file alt_filter.c.
Referenced by alt_filter_init(), and alt_filter_periodic().
float last_gps_alt |
Definition at line 46 of file alt_filter.c.
Referenced by alt_filter_init(), and alt_filter_periodic().
float MarcheAleaAccelerometre |
Definition at line 37 of file alt_filter.c.
Referenced by alt_filter_init(), and kalmanInit().
float MarcheAleaBiaisAltimetre |
Definition at line 36 of file alt_filter.c.
Referenced by alt_filter_init(), and kalmanInit().
float SigAltiAltimetre |
Definition at line 35 of file alt_filter.c.
Referenced by alt_filter_init(), and kalmanCorrectionAltimetre().
float SigAltiGPS |
Definition at line 34 of file alt_filter.c.
Referenced by alt_filter_init(), and kalmanCorrectionGPS().