Collaboration diagram for Acceleration representations:

Macros
#define	ACCEL_ECEF_I 0

#define	ACCEL_NED_I 1

#define	ACCEL_ECEF_F 2

#define	ACCEL_NED_F 3

Functions
void	stateCalcAccelNed_i (void)

void	stateCalcAccelEcef_i (void)

void	stateCalcAccelNed_f (void)

void	stateCalcAccelEcef_f (void)

static bool	stateIsAccelValid (void)
	Test if accelerations are valid.

static void	stateSetAccelNed_i (uint16_t id, struct NedCoor_i *ned_accel)
	Set acceleration in NED coordinates (int).

static void	stateSetAccelEcef_i (uint16_t id, struct EcefCoor_i *ecef_accel)
	Set acceleration in ECEF coordinates (int).

static void	stateSetAccelNed_f (uint16_t id, struct NedCoor_f *ned_accel)
	Set acceleration in NED coordinates (float).

static void	stateSetAccelEcef_f (uint16_t id, struct EcefCoor_f *ecef_accel)
	Set acceleration in ECEF coordinates (float).

static void	stateSetAccelBody_i (uint16_t id, struct Int32Vect3 *body_accel)
	Set acceleration in Body coordinates (int).

static struct NedCoor_i *	stateGetAccelNed_i (void)
	Get acceleration in NED coordinates (int).

static struct EcefCoor_i *	stateGetAccelEcef_i (void)
	Get acceleration in ECEF coordinates (int).

static struct NedCoor_f *	stateGetAccelNed_f (void)
	Get acceleration in NED coordinates (float).

static struct EcefCoor_f *	stateGetAccelEcef_f (void)
	Get acceleration in ECEF coordinates (float).

Variables
uint8_t	State::accel_status
	Holds the status bits for all acceleration representations.

uint16_t	State::accel_input_filter
	Holds the input filter id for acceleration.

struct Int32Vect3	State::body_accel_i
	Acceleration in Body coordinates.

struct NedCoor_i	State::ned_accel_i
	Acceleration in North East Down coordinates.

struct EcefCoor_i	State::ecef_accel_i
	Acceleration in EarthCenteredEarthFixed coordinates.

struct NedCoor_f	State::ned_accel_f
	Acceleration in North East Down coordinates.

struct EcefCoor_f	State::ecef_accel_f
	Acceleration in EarthCenteredEarthFixed coordinates.

Detailed Description

Macro Definition Documentation

◆ ACCEL_ECEF_F

#define ACCEL_ECEF_F 2

Definition at line 108 of file state.h.

◆ ACCEL_ECEF_I

#define ACCEL_ECEF_I 0

Definition at line 106 of file state.h.

◆ ACCEL_NED_F

#define ACCEL_NED_F 3

Definition at line 109 of file state.h.

◆ ACCEL_NED_I

#define ACCEL_NED_I 1

Definition at line 107 of file state.h.

Function Documentation

◆ stateCalcAccelEcef_f()

void stateCalcAccelEcef_f ( void )

Definition at line 1315 of file state.c.

References ACCEL_ECEF_F, ACCEL_ECEF_I, ACCEL_NED_F, ACCEL_NED_I, State::accel_status, ACCELS_FLOAT_OF_BFP, State::ecef_accel_f, ecef_of_ned_vect_f(), foo, State::ned_accel_f, State::ned_accel_i, State::ned_initialized_f, State::ned_origin_f, and state.

Referenced by stateGetAccelEcef_f().

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◆ stateCalcAccelEcef_i()

void stateCalcAccelEcef_i ( void )

Definition at line 1250 of file state.c.

References ACCEL_ECEF_F, ACCEL_ECEF_I, ACCEL_NED_F, ACCEL_NED_I, State::accel_status, ACCELS_BFP_OF_REAL, State::ecef_accel_f, State::ecef_accel_i, ecef_of_ned_vect_i(), foo, State::ned_accel_f, State::ned_accel_i, State::ned_initialized_i, State::ned_origin_i, and state.

Referenced by stateGetAccelEcef_i().

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◆ stateCalcAccelNed_f()

void stateCalcAccelNed_f ( void )

Definition at line 1282 of file state.c.

References ACCEL_ECEF_F, ACCEL_ECEF_I, ACCEL_NED_F, ACCEL_NED_I, State::accel_status, ACCELS_FLOAT_OF_BFP, State::ecef_accel_f, State::ecef_accel_i, foo, State::ned_accel_f, State::ned_accel_i, State::ned_initialized_f, ned_of_ecef_vect_f(), State::ned_origin_f, and state.

Referenced by stateGetAccelNed_f().

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◆ stateCalcAccelNed_i()

void stateCalcAccelNed_i ( void )

Definition at line 1217 of file state.c.

References ACCEL_ECEF_F, ACCEL_ECEF_I, ACCEL_NED_F, ACCEL_NED_I, State::accel_status, ACCELS_BFP_OF_REAL, State::ecef_accel_f, State::ecef_accel_i, foo, State::ned_accel_f, State::ned_accel_i, State::ned_initialized_i, ned_of_ecef_vect_i(), State::ned_origin_i, and state.

Referenced by stateGetAccelNed_i().

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◆ stateGetAccelEcef_f()

static struct EcefCoor_f * stateGetAccelEcef_f ( void )

inlinestatic

Get acceleration in ECEF coordinates (float).

Definition at line 1204 of file state.h.

References ACCEL_ECEF_F, State::accel_status, State::ecef_accel_f, foo, state, and stateCalcAccelEcef_f().

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◆ stateGetAccelEcef_i()

static struct EcefCoor_i * stateGetAccelEcef_i ( void )

inlinestatic

Get acceleration in ECEF coordinates (int).

Definition at line 1186 of file state.h.

References ACCEL_ECEF_I, State::accel_status, State::ecef_accel_i, foo, state, and stateCalcAccelEcef_i().

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◆ stateGetAccelNed_f()

static struct NedCoor_f * stateGetAccelNed_f ( void )

inlinestatic

Get acceleration in NED coordinates (float).

Definition at line 1195 of file state.h.

References ACCEL_NED_F, State::accel_status, foo, State::ned_accel_f, state, and stateCalcAccelNed_f().

Referenced by autopilot_ground_detection(), autopilot_in_flight_end_detection(), decawave_anchorless_communication_periodic(), ground_detect_filter_accel(), ground_detect_periodic(), guidance_indi_propagate_filters(), guidance_indi_propagate_filters(), mf_daq_send_state(), nav_catapult_highrate_module(), oneloop_andi_propagate_filters(), parse_mf_daq_msg(), range_msg_callback(), and wind_estimator_periodic().

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◆ stateGetAccelNed_i()

static struct NedCoor_i * stateGetAccelNed_i ( void )

inlinestatic

Get acceleration in NED coordinates (int).

Definition at line 1177 of file state.h.

References ACCEL_NED_I, State::accel_status, foo, State::ned_accel_i, state, and stateCalcAccelNed_i().

Referenced by ekf_aw_wrapper_fetch(), guidance_v_thrust_adapt(), ins_vectornav_propagate(), save_shot_on_disk(), send_hover_loop(), send_vert_loop(), and stabilization_attitude_run().

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◆ stateIsAccelValid()

static bool stateIsAccelValid ( void )

inlinestatic

Test if accelerations are valid.

Definition at line 1119 of file state.h.

References State::accel_status, and state.

◆ stateSetAccelBody_i()

static void stateSetAccelBody_i	(	uint16_t	id,
		struct Int32Vect3 *	body_accel
	)

inlinestatic

Set acceleration in Body coordinates (int).

Definition at line 1167 of file state.h.

References State::accel_input_filter, State::body_accel_i, state, STATE_CHECK_INPUT_AND_RETURN, and VECT3_COPY.

Referenced by accel_cb(), accel_cb(), ekf_run(), ins_ekf2_publish_attitude(), ins_float_invariant_propagate(), ins_int_propagate(), and ins_module_propagate().

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◆ stateSetAccelEcef_f()

static void stateSetAccelEcef_f	(	uint16_t	id,
		struct EcefCoor_f *	ecef_accel
	)

inlinestatic

Set acceleration in ECEF coordinates (float).

Definition at line 1157 of file state.h.

References ACCEL_ECEF_F, State::accel_input_filter, State::accel_status, State::ecef_accel_f, foo, state, STATE_CHECK_INPUT_AND_RETURN, and VECT3_COPY.

◆ stateSetAccelEcef_i()

static void stateSetAccelEcef_i	(	uint16_t	id,
		struct EcefCoor_i *	ecef_accel
	)

inlinestatic

Set acceleration in ECEF coordinates (int).

Definition at line 1137 of file state.h.

References ACCEL_ECEF_I, State::accel_input_filter, State::accel_status, State::ecef_accel_i, foo, state, STATE_CHECK_INPUT_AND_RETURN, and VECT3_COPY.

◆ stateSetAccelNed_f()

static void stateSetAccelNed_f	(	uint16_t	id,
		struct NedCoor_f *	ned_accel
	)

inlinestatic

Set acceleration in NED coordinates (float).

Definition at line 1147 of file state.h.

References State::accel_input_filter, ACCEL_NED_F, State::accel_status, foo, State::ned_accel_f, state, STATE_CHECK_INPUT_AND_RETURN, and VECT3_COPY.

Referenced by ArduIMU_event(), ekf_run(), ins_ekf2_update(), ins_float_invariant_propagate(), ins_vectornav_propagate(), set_state_from_ins(), and sim_overwrite_ins().

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◆ stateSetAccelNed_i()

static void stateSetAccelNed_i	(	uint16_t	id,
		struct NedCoor_i *	ned_accel
	)

inlinestatic

Set acceleration in NED coordinates (int).

Definition at line 1127 of file state.h.

References State::accel_input_filter, ACCEL_NED_I, State::accel_status, foo, State::ned_accel_i, state, STATE_CHECK_INPUT_AND_RETURN, and VECT3_COPY.

Referenced by accel_cb(), accel_cb(), ins_ned_to_state(), and ins_ned_to_state().

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Variable Documentation

◆ accel_input_filter

uint16_t State::accel_input_filter

Holds the input filter id for acceleration.

Definition at line 370 of file state.h.

Referenced by stateInit(), stateSetAccelBody_i(), stateSetAccelEcef_f(), stateSetAccelEcef_i(), stateSetAccelNed_f(), stateSetAccelNed_i(), and stateSetInputFilter().

◆ accel_status

uint8_t State::accel_status

Holds the status bits for all acceleration representations.

When the corresponding bit is one the representation is already computed.

Definition at line 365 of file state.h.

Referenced by stateCalcAccelEcef_f(), stateCalcAccelEcef_i(), stateCalcAccelNed_f(), stateCalcAccelNed_i(), stateGetAccelEcef_f(), stateGetAccelEcef_i(), stateGetAccelNed_f(), stateGetAccelNed_i(), stateInit(), stateIsAccelValid(), stateSetAccelEcef_f(), stateSetAccelEcef_i(), stateSetAccelNed_f(), stateSetAccelNed_i(), stateSetLocalOrigin_i(), and stateSetLocalUtmOrigin_f().

◆ body_accel_i

struct Int32Vect3 State::body_accel_i

Acceleration in Body coordinates.

Units: m/s^2 in BFP with INT32_ACCEL_FRAC

Definition at line 376 of file state.h.

Referenced by stateGetAccelBody_i(), and stateSetAccelBody_i().

◆ ecef_accel_f

struct EcefCoor_f State::ecef_accel_f

Acceleration in EarthCenteredEarthFixed coordinates.

Units: m/s^2

Definition at line 400 of file state.h.

Referenced by stateCalcAccelEcef_f(), stateCalcAccelEcef_i(), stateCalcAccelNed_f(), stateCalcAccelNed_i(), stateGetAccelEcef_f(), and stateSetAccelEcef_f().

◆ ecef_accel_i

struct EcefCoor_i State::ecef_accel_i

Acceleration in EarthCenteredEarthFixed coordinates.

Units: m/s^2 in BFP with INT32_ACCEL_FRAC

Definition at line 388 of file state.h.

Referenced by stateCalcAccelEcef_i(), stateCalcAccelNed_f(), stateCalcAccelNed_i(), stateGetAccelEcef_i(), and stateSetAccelEcef_i().

◆ ned_accel_f

struct NedCoor_f State::ned_accel_f

Acceleration in North East Down coordinates.

Units: m/s^2

Definition at line 394 of file state.h.

Referenced by stateCalcAccelEcef_f(), stateCalcAccelEcef_i(), stateCalcAccelNed_f(), stateCalcAccelNed_i(), stateGetAccelNed_f(), and stateSetAccelNed_f().

◆ ned_accel_i

struct NedCoor_i State::ned_accel_i

Acceleration in North East Down coordinates.

Units: m/s^2 in BFP with INT32_ACCEL_FRAC

Definition at line 382 of file state.h.

Referenced by stateCalcAccelEcef_f(), stateCalcAccelEcef_i(), stateCalcAccelNed_f(), stateCalcAccelNed_i(), stateGetAccelNed_i(), and stateSetAccelNed_i().

Macros

Functions

Variables

Detailed Description

Macro Definition Documentation

◆ ACCEL_ECEF_F

◆ ACCEL_ECEF_I

◆ ACCEL_NED_F

◆ ACCEL_NED_I

Function Documentation

◆ stateCalcAccelEcef_f()

◆ stateCalcAccelEcef_i()

◆ stateCalcAccelNed_f()

◆ stateCalcAccelNed_i()

◆ stateGetAccelEcef_f()

◆ stateGetAccelEcef_i()

◆ stateGetAccelNed_f()

◆ stateGetAccelNed_i()

◆ stateIsAccelValid()

◆ stateSetAccelBody_i()

◆ stateSetAccelEcef_f()

◆ stateSetAccelEcef_i()

◆ stateSetAccelNed_f()

◆ stateSetAccelNed_i()

Variable Documentation

◆ accel_input_filter

◆ accel_status

◆ body_accel_i

◆ ecef_accel_f

◆ ecef_accel_i

◆ ned_accel_f

◆ ned_accel_i