Paparazzi UAS  v5.15_devel-109-gee85905
Paparazzi is a free software Unmanned Aircraft System.
 All Data Structures Namespaces Files Functions Variables Typedefs Enumerations Enumerator Macros Modules Pages
discrete_ekf.c File Reference
#include "modules/relative_localization_filter/discrete_ekf.h"
#include "math/pprz_algebra_float.h"
#include <math.h>
#include <stdio.h>
+ Include dependency graph for discrete_ekf.c:

Go to the source code of this file.

Functions

void discrete_ekf_new (struct discrete_ekf *filter)
 
void discrete_ekf_predict (struct discrete_ekf *filter)
 
void discrete_ekf_update (struct discrete_ekf *filter, float *Z)
 
void linear_filter (float *X, float dt, float *dX, float **A)
 
void linear_measure (float *X, float *Z, float **H)
 

Detailed Description

Author
Mario Coppola Discrete Extended Kalman Filter for Relative Localization

Definition in file discrete_ekf.c.

Function Documentation

void discrete_ekf_new ( struct discrete_ekf filter)

Definition at line 32 of file discrete_ekf.c.

References discrete_ekf::dt, EKF_M, EKF_N, float_mat_diagonal_scal(), float_vect_zero(), MAKE_MATRIX_PTR, discrete_ekf::P, discrete_ekf::Q, discrete_ekf::R, and discrete_ekf::X.

Referenced by range_msg_callback().

+ Here is the call graph for this function:

+ Here is the caller graph for this function:

void discrete_ekf_predict ( struct discrete_ekf filter)
void discrete_ekf_update ( struct discrete_ekf filter,
float *  Z 
)
void linear_filter ( float *  X,
float  dt,
float *  dX,
float **  A 
)

Definition at line 148 of file discrete_ekf.c.

References EKF_N, float_mat_diagonal_scal(), and float_vect_zero().

Referenced by discrete_ekf_predict().

+ Here is the call graph for this function:

+ Here is the caller graph for this function:

void linear_measure ( float *  X,
float *  Z,
float **  H 
)

Definition at line 164 of file discrete_ekf.c.

References EKF_M, and EKF_N.

Referenced by discrete_ekf_predict().

+ Here is the caller graph for this function: