Paparazzi UAS
v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
alt_filter.h
Go to the documentation of this file.
1
/*
2
* Copyright (C) 2010 ENAC
3
*
4
* This file is part of paparazzi.
5
*
6
* paparazzi is free software; you can redistribute it and/or modify
7
* it under the terms of the GNU General Public License as published by
8
* the Free Software Foundation; either version 2, or (at your option)
9
* any later version.
10
*
11
* paparazzi is distributed in the hope that it will be useful,
12
* but WITHOUT ANY WARRANTY; without even the implied warranty of
13
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14
* GNU General Public License for more details.
15
*
16
* You should have received a copy of the GNU General Public License
17
* along with paparazzi; see the file COPYING. If not, write to
18
* the Free Software Foundation, 59 Temple Place - Suite 330,
19
* Boston, MA 02111-1307, USA.
20
*
21
*/
22
23
#ifndef ALT_FILTER_H
24
#define ALT_FILTER_H
25
26
27
/*************************************************************************/
28
/*************************************************************************/
29
30
/* Kalman 3 states Filter for GPS / barometer and IMU fusion
31
*/
32
33
/*************************************************************************/
34
/*************************************************************************/
35
36
#define KALT_N_ETAT 3
37
38
typedef
struct
{
39
float
Te
;
40
float
P
[
KALT_N_ETAT
][
KALT_N_ETAT
];
41
float
W[
KALT_N_ETAT
- 1][
KALT_N_ETAT
- 1];
42
float
X
[
KALT_N_ETAT
];
43
float
Bd[
KALT_N_ETAT
];
44
float
Ad[
KALT_N_ETAT
][
KALT_N_ETAT
];
45
float
Md[
KALT_N_ETAT
][
KALT_N_ETAT
- 1];
46
}
TypeKalman
;
47
48
extern
TypeKalman
alt_filter
;
49
50
extern
void
alt_filter_init
(
void
);
51
extern
void
alt_filter_periodic
(
void
);
52
53
#endif
alt_filter
TypeKalman alt_filter
Definition:
alt_filter.c:31
TypeKalman::Te
float Te
Definition:
alt_filter.h:39
alt_filter_init
void alt_filter_init(void)
Definition:
alt_filter.c:49
alt_filter_periodic
void alt_filter_periodic(void)
Definition:
alt_filter.c:61
KALT_N_ETAT
#define KALT_N_ETAT
Definition:
alt_filter.h:36
TypeKalman
Definition:
alt_filter.h:38
mesonh.mesonh_atmosphere.X
int X
Definition:
mesonh_atmosphere.py:43
P
static float P[3][3]
Definition:
trilateration.c:31
sw
airborne
modules
ins
alt_filter.h
Generated on Fri Nov 8 2024 14:10:46 for Paparazzi UAS by
1.9.1