#include "std.h"
#include "math/pprz_algebra_int.h"
#include "math/pprz_algebra_float.h"
#include "math/pprz_geodetic_float.h"
#include "modules/meteo/ekf_aw.h"

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Go to the source code of this file.

Data Structures
struct	ekfAw

Macros
#define	EKF_AW_RPM_HOVER_NUM 4
	Euler angles. More...

#define	ekf_aw_wrapper_reset(_v)

#define	ekf_aw_wrapper_set_wind_N(_v)

#define	ekf_aw_wrapper_set_wind_E(_v)

#define	ekf_aw_wrapper_set_wind_D(_v)

#define	ekf_aw_wrapper_set_offset_x(_v)

#define	ekf_aw_wrapper_set_offset_y(_v)

#define	ekf_aw_wrapper_set_offset_z(_v)

Functions
void	ekf_aw_wrapper_init (void)

void	ekf_aw_wrapper_periodic (void)

void	ekf_aw_wrapper_fetch (void)

void	set_in_air_status (bool)

Variables
float	tau_filter_high

float	tau_filter_low

struct ekfAw	ekf_aw

Data Structure Documentation

◆ ekfAw

struct ekfAw

Definition at line 12 of file ekf_aw_wrapper.h.

Collaboration diagram for ekfAw:

Data Fields
struct FloatVect3	acc	Last accelerometer measurements.
struct FloatVect3	acc_filt	Ground Speed. Last accelerometer measurements
float	elevator_angle	Skew.
float	elevator_force[3]
struct FloatEulers	euler
float	fuselage_force[3]
struct FloatRates	gyro	Last gyroscope measurements.
struct ekfHealth	health
float	hover_force[3]
bool	in_air
struct FloatVect3	innov_acc_filt
struct FloatVect3	innov_V_gnd	Pitot tube airspeed.
float	innov_V_pitot
uint64_t	internal_clock
int32_t	last_RPM_hover[EKF_AW_RPM_HOVER_NUM]
int32_t	last_RPM_pusher
float	meas_cov[7]
struct NedCoor_f	offset
struct NedCoor_f	offset_guess
bool	override_quick_convergence
bool	override_start
float	process_cov[12]
float	pusher_force[3]
bool	reset
float	RPM_hover[EKF_AW_RPM_HOVER_NUM]
float	RPM_pusher	Hover motor RPM.
float	skew	Pusher motor RPM.
float	state_cov[9]
uint64_t	time_last_in_air
uint64_t	time_last_on_gnd
struct NedCoor_f	V_body
float	V_pitot
struct FloatVect3	Vg_NED
struct NedCoor_f	wind
struct NedCoor_f	wind_guess
float	wing_force[3]

Macro Definition Documentation

◆ EKF_AW_RPM_HOVER_NUM

#define EKF_AW_RPM_HOVER_NUM 4

Euler angles.

Definition at line 24 of file ekf_aw_wrapper.h.

◆ ekf_aw_wrapper_reset

#define ekf_aw_wrapper_reset ( _v )

Value:

    { \
    ekf_aw.reset = false;  \
    ekf_aw_reset();                  \
    ekf_aw_reset_health();                  \
  }

Definition at line 82 of file ekf_aw_wrapper.h.

◆ ekf_aw_wrapper_set_offset_x

#define ekf_aw_wrapper_set_offset_x ( _v )

Value:

    { \
    ekf_aw.offset_guess.x = _v;  \
    ekf_aw_set_offset(&ekf_aw.offset_guess);                  \
  }

Definition at line 103 of file ekf_aw_wrapper.h.

◆ ekf_aw_wrapper_set_offset_y

#define ekf_aw_wrapper_set_offset_y ( _v )

Value:

    { \
    ekf_aw.offset_guess.y = _v;  \
    ekf_aw_set_offset(&ekf_aw.offset_guess);                  \
  }

Definition at line 108 of file ekf_aw_wrapper.h.

◆ ekf_aw_wrapper_set_offset_z

#define ekf_aw_wrapper_set_offset_z ( _v )

Value:

    { \
    ekf_aw.offset_guess.z = _v;  \
    ekf_aw_set_offset(&ekf_aw.offset_guess);                  \
  }

Definition at line 113 of file ekf_aw_wrapper.h.

◆ ekf_aw_wrapper_set_wind_D

#define ekf_aw_wrapper_set_wind_D ( _v )

Value:

    { \
    ekf_aw.wind_guess.z = _v;  \
    ekf_aw_set_wind(&ekf_aw.wind_guess);                  \
  }

Definition at line 98 of file ekf_aw_wrapper.h.

◆ ekf_aw_wrapper_set_wind_E

#define ekf_aw_wrapper_set_wind_E ( _v )

Value:

    { \
    ekf_aw.wind_guess.y = _v;  \
    ekf_aw_set_wind(&ekf_aw.wind_guess);                  \
  }

Definition at line 93 of file ekf_aw_wrapper.h.

◆ ekf_aw_wrapper_set_wind_N

#define ekf_aw_wrapper_set_wind_N ( _v )

Value:

    { \
    ekf_aw.wind_guess.x = _v;  \
    ekf_aw_set_wind(&ekf_aw.wind_guess);                  \
  }

Definition at line 88 of file ekf_aw_wrapper.h.

Function Documentation

◆ ekf_aw_wrapper_fetch()

void ekf_aw_wrapper_fetch ( void )

Definition at line 338 of file ekf_aw_wrapper.c.

References ACCEL_BFP_OF_REAL, ACCELS_FLOAT_OF_BFP, body_accel_f, ekf_aw, EKF_AW_RPM_HOVER_NUM, filt_acc, filt_acc_low, filt_airspeed_pitot, filt_elevator_pprz, filt_euler, filt_groundspeed, filt_hover_prop_rpm, filt_pusher_prop_rpm, filt_rate, filt_skew, int32_rmat_vmult(), ekfAw::last_RPM_hover, ekfAw::last_RPM_pusher, p, stateGetAccelBody_i(), stateGetAccelNed_i(), stateGetAirspeed_f(), stateGetBodyRates_f(), stateGetNedToBodyEulers_f(), stateGetNedToBodyRMat_i(), stateGetSpeedNed_f(), update_butterworth_2_low_pass(), VECT3_COPY, FloatVect3::x, NedCoor_f::x, FloatVect3::y, NedCoor_f::y, FloatVect3::z, Int32Vect3::z, and NedCoor_f::z.

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◆ ekf_aw_wrapper_init()

void ekf_aw_wrapper_init ( void )

Definition at line 136 of file ekf_aw_wrapper.c.

References ACT_FEEDBACK_RPM_SENSOR_ID, ekfHealth::crashes_n, DefaultPeriodic, ekf_aw, ekf_aw_get_param_handle(), ekf_aw_init(), EKF_AW_RPM_HOVER_NUM, ekf_params, ekfAw::elevator_angle, ekfAw::elevator_force, filt_acc, filt_acc_low, filt_airspeed_pitot, filt_elevator_pprz, filt_euler, filt_groundspeed, filt_hover_prop_rpm, filt_pusher_prop_rpm, filt_rate, filt_skew, ekfAw::fuselage_force, ekfAw::health, ekfHealth::healthy, ekfAw::hover_force, ekfAw::in_air, init_butterworth_2_low_pass(), ekfAw::innov_acc_filt, ekfAw::innov_V_gnd, ekfAw::innov_V_pitot, ekfAw::internal_clock, ekfAw::last_RPM_hover, ekfAw::last_RPM_pusher, ekfAw::offset, ekfAw::override_quick_convergence, ekfAw::override_start, PERIODIC_FREQUENCY_AIRSPEED_EKF_FETCH, ekfAw::pusher_force, register_periodic_telemetry(), rpm_cb(), RPM_ev, ekfAw::RPM_hover, ekfAw::RPM_pusher, send_airspeed_wind_ekf(), send_airspeed_wind_ekf_debug(), ekfAw::skew, tau_filter_high, tau_filter_low, ekfAw::time_last_on_gnd, ekfAw::V_body, ekfAw::wind, ekfAw::wing_force, FloatVect3::x, NedCoor_f::x, FloatVect3::y, NedCoor_f::y, FloatVect3::z, and NedCoor_f::z.

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◆ ekf_aw_wrapper_periodic()

void ekf_aw_wrapper_periodic ( void )

Definition at line 215 of file ekf_aw_wrapper.c.

References ekfAw::acc, ekfAw::acc_filt, autopilot_in_flight(), ekf_aw, ekf_aw_get_elevator_force(), ekf_aw_get_fuselage_force(), ekf_aw_get_health(), ekf_aw_get_hover_force(), ekf_aw_get_innov_accel_filt(), ekf_aw_get_innov_V_gnd(), ekf_aw_get_innov_V_pitot(), ekf_aw_get_meas_cov(), ekf_aw_get_offset(), ekf_aw_get_process_cov(), ekf_aw_get_pusher_force(), ekf_aw_get_speed_body(), ekf_aw_get_state_cov(), ekf_aw_get_wind_ned(), ekf_aw_get_wing_force(), ekf_aw_propagate(), EKF_AW_QUICK_CONVERGENCE, EKF_AW_QUICK_CONVERGENCE_TIME, EKF_AW_RPM_HOVER_NUM, ekf_aw_set_speed_body(), EKF_AW_WRAPPER_RANDOM_INPUTS, ekf_params, ekfAw::elevator_angle, ekfAw::elevator_force, ekfAw::euler, filt_acc, filt_acc_low, filt_airspeed_pitot, filt_elevator_pprz, filt_euler, filt_groundspeed, filt_hover_prop_rpm, filt_pusher_prop_rpm, filt_rate, filt_skew, ekfAw::fuselage_force, ekfAw::gyro, ekfAw::health, ekfAw::hover_force, ekfAw::in_air, ekfAw::innov_acc_filt, ekfAw::innov_V_gnd, ekfAw::innov_V_pitot, ekfAw::internal_clock, ekfAw::meas_cov, SecondOrderLowPass::o, ekfAw::offset, ekfAw::override_quick_convergence, ekfAw::override_start, FloatRates::p, PERIODIC_FREQUENCY_AIRSPEED_EKF, PERIODIC_FREQUENCY_AIRSPEED_EKF_FETCH, FloatEulers::phi, ekfAw::process_cov, FloatEulers::psi, ekfAw::pusher_force, FloatRates::q, ekfAwParameters::quick_convergence, FloatRates::r, ekfAw::RPM_hover, ekfAw::RPM_pusher, set_in_air_status(), ekfAw::skew, ekfAw::state_cov, stateGetNedToBodyEulers_f(), stateGetPositionNed_f(), FloatEulers::theta, ekfAw::time_last_on_gnd, ekfAw::V_body, ekfAw::V_pitot, ekfAw::Vg_NED, ekfAw::wind, ekfAw::wing_force, FloatVect3::x, FloatVect3::y, FloatVect3::z, NedCoor_f::z, and zero_speed.

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◆ set_in_air_status()

void set_in_air_status ( bool in_air )

Definition at line 445 of file ekf_aw_wrapper.c.

References ekf_aw, ekfAw::in_air, ekfAw::internal_clock, ekfAw::time_last_in_air, and ekfAw::time_last_on_gnd.

Referenced by ekf_aw_wrapper_periodic().

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Variable Documentation

◆ ekf_aw

struct ekfAw ekf_aw

extern

Definition at line 97 of file ekf_aw_wrapper.c.

Referenced by ekf_aw_wrapper_fetch(), ekf_aw_wrapper_init(), ekf_aw_wrapper_periodic(), rpm_cb(), send_airspeed_wind_ekf(), send_airspeed_wind_ekf_debug(), and set_in_air_status().

◆ tau_filter_high

float tau_filter_high

extern

Definition at line 104 of file ekf_aw_wrapper.c.

Referenced by ekf_aw_wrapper_init().

◆ tau_filter_low

float tau_filter_low

extern

Definition at line 105 of file ekf_aw_wrapper.c.

Referenced by ekf_aw_wrapper_init().

Data Structures

Macros

Functions

Variables

Data Structure Documentation

◆ ekfAw

Macro Definition Documentation

◆ EKF_AW_RPM_HOVER_NUM

◆ ekf_aw_wrapper_reset

◆ ekf_aw_wrapper_set_offset_x

◆ ekf_aw_wrapper_set_offset_y

◆ ekf_aw_wrapper_set_offset_z

◆ ekf_aw_wrapper_set_wind_D

◆ ekf_aw_wrapper_set_wind_E

◆ ekf_aw_wrapper_set_wind_N

Function Documentation

◆ ekf_aw_wrapper_fetch()

◆ ekf_aw_wrapper_init()

◆ ekf_aw_wrapper_periodic()

◆ set_in_air_status()

Variable Documentation

◆ ekf_aw

◆ tau_filter_high

◆ tau_filter_low