Paparazzi UAS  v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
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>
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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

◆ discrete_ekf_new()

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().

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◆ discrete_ekf_predict()

void discrete_ekf_predict ( struct discrete_ekf filter)

◆ discrete_ekf_update()

◆ linear_filter()

void linear_filter ( float *  X,
float  dt,
float *  dX,
float **  A 
)

Definition at line 148 of file discrete_ekf.c.

References A, EKF_N, float_mat_diagonal_scal(), float_vect_zero(), and mesonh.mesonh_atmosphere::X.

Referenced by discrete_ekf_predict().

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◆ linear_measure()

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

Definition at line 164 of file discrete_ekf.c.

References EKF_M, EKF_N, H, mesonh.mesonh_atmosphere::X, and mesonh.mesonh_atmosphere::Z.

Referenced by discrete_ekf_predict().

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