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

Airspeed and Wind Estimator with EKF

Frédéric Larocque

Example for airframe file

Add to your firmware section: This example contains all possible configuration options, not all of them are mandatory!

<module name="ekf_aw">
b'<define name="PERIODIC_FREQUENCY_AIRSPEED_EKF" value="25" />\n '
b'<define name="PERIODIC_FREQUENCY_AIRSPEED_EKF_FETCH" value="100" />\n \n '
b'<define name="EKF_AW_P0_V_BODY" value="1e-00f" />\n '
b'<define name="EKF_AW_P0_MU" value="1e-00f" />\n '
b'<define name="EKF_AW_P0_OFFSET" value="1e-00f" />\n\n '
b'<define name="EKF_AW_Q_ACCEL" value="1e-00f" />\n '
b'<define name="EKF_AW_Q_GYRO" value="1e-00f" />\n '
b'<define name="EKF_AW_Q_MU" value="1e-00f" />\n '
b'<define name="EKF_AW_Q_OFFSET" value="1e-00f" />\n\n '
b'<define name="EKF_AW_R_V_GND" value="1e-00f" />\n '
b'<define name="EKF_AW_R_ACCEL_FILT_X" value="1e-00f" />\n '
b'<define name="EKF_AW_R_ACCEL_FILT_Y" value="1e-00f" />\n '
b'<define name="EKF_AW_R_ACCEL_FILT_Z" value="1e-00f" />\n '
b'<define name="EKF_AW_R_V_PITOT" value="1e-00f" />\n\n '
b'<define name="EKF_AW_WING_INSTALLED" value="false" />\n '
b'<define name="EKF_AW_USE_MODEL_BASED" value="false" />\n '
b'<define name="EKF_AW_USE_BETA" value="false" />\n '
b'<define name="EKF_AW_PROPAGATE_OFFSET" value="false" />\n\n '
b'<define name="EKF_AW_VEHICLE_MASS" value="0.0" />\n\n '
b'<define name="EKF_AW_K1_FX_DRAG" value="0.f" />\n '
b'<define name="EKF_AW_K2_FX_DRAG" value="0.f" />\n\n '
b'<define name="EKF_AW_K_FY_BETA" value="1e-00f" />\n '
b'<define name="EKF_AW_K_FY_V" value="1e-00f" />\n\n '
b'<define name="EKF_AW_K1_FX_FUSELAGE" value="1e-00f" />\n '
b'<define name="EKF_AW_K2_FX_FUSELAGE" value="1e-00f" />\n '
b'<define name="EKF_AW_K3_FX_FUSELAGE" value="1e-00f" />\n '
b'<define name="EKF_AW_K4_FX_FUSELAGE" value="1e-00f" />\n\n '
b'<define name="EKF_AW_K1_FX_HOVER" value="1e-00f" />\n '
b'<define name="EKF_AW_K2_FX_HOVER" value="1e-00f" />\n\n '
b'<define name="EKF_AW_K1_FX_WING" value="1e-00f" />\n '
b'<define name="EKF_AW_K2_FX_WING" value="1e-00f" />\n '
b'<define name="EKF_AW_K3_FX_WING" value="1e-00f" />\n '
b'<define name="EKF_AW_K4_FX_WING" value="1e-00f" />\n '
b'<define name="EKF_AW_K5_FX_WING" value="1e-00f" />\n\n '
b'<define name="EKF_AW_K1_FX_PUSH" value="1e-00f" />\n '
b'<define name="EKF_AW_K2_FX_PUSH" value="1e-00f" />\n '
b'<define name="EKF_AW_K3_FX_PUSH" value="1e-00f" />\n\n '
b'<define name="EKF_AW_K1_FX_ELEV" value="1e-00f" />\n '
b'<define name="EKF_AW_K2_FX_ELEV" value="1e-00f" />\n '
b'<define name="EKF_AW_K3_FX_ELEV" value="1e-00f" />\n\n '
b'<define name="EKF_AW_K1_FZ_FUSELAGE" value="1e-00f" />\n '
b'<define name="EKF_AW_K2_FZ_FUSELAGE" value="1e-00f" />\n '
b'<define name="EKF_AW_K3_FZ_FUSELAGE" value="1e-00f" />\n '
b'<define name="EKF_AW_K4_FZ_FUSELAGE" value="1e-00f" />\n\n '
b'<define name="EKF_AW_K1_FZ_HOVER" value="1e-00f" />\n '
b'<define name="EKF_AW_K2_FZ_HOVER" value="1e-00f" />\n '
b'<define name="EKF_AW_K3_FZ_HOVER" value="1e-00f" />\n '
b'<define name="EKF_AW_K4_FZ_HOVER" value="1e-00f" />\n\n '
b'<define name="EKF_AW_K1_Fz_WING" value="1e-00f" />\n '
b'<define name="EKF_AW_K2_Fz_WING" value="1e-00f" />\n '
b'<define name="EKF_AW_K3_Fz_WING" value="1e-00f" />\n '
b'<define name="EKF_AW_K4_Fz_WING" value="1e-00f" />\n '
b'<define name="EKF_AW_K5_Fz_WING" value="1e-00f" />\n\n '
b'<define name="EKF_AW_K1_FZ_ELEV" value="1e-00f" />\n '
b'<define name="EKF_AW_K2_FZ_ELEV" value="1e-00f" />\n\n '
b'<define name="EKF_AW_ELEV_MAX_ANGLE" value="1e-00f" />\n '
b'<define name="EKF_AW_ELEV_MIN_ANGLE" value="1e-00f" />\n '
b'<define name="EKF_AW_AOA_MAX_ANGLE" value="1e-00f" />\n '
b'<define name="EKF_AW_AOA_MIN_ANGLE" value="1e-00f" />\n '
</module>

Module configuration options

Define Options

  • name: PERIODIC_FREQUENCY_AIRSPEED_EKF value: 25
    Description: Airspeed periodic frequency
  • name: PERIODIC_FREQUENCY_AIRSPEED_EKF_FETCH value: 100
    Description: Airspeed periodic fetch frequency
  • name: EKF_AW_P0_V_BODY value: 1e-00f
    Description: Initial covariance body velocity
  • name: EKF_AW_P0_MU value: 1e-00f
    Description: Initial covariance wind
  • name: EKF_AW_P0_OFFSET value: 1e-00f
    Description: Initial covariance offset
  • name: EKF_AW_Q_ACCEL value: 1e-00f
    Description: Accel process noise
  • name: EKF_AW_Q_GYRO value: 1e-00f
    Description: Gyro process noise
  • name: EKF_AW_Q_MU value: 1e-00f
    Description: Wind process noise
  • name: EKF_AW_Q_OFFSET value: 1e-00f
    Description: Offset process noise
  • name: EKF_AW_R_V_GND value: 1e-00f
    Description: GPS Velocity measurement noise
  • name: EKF_AW_R_ACCEL_FILT_X value: 1e-00f
    Description: Filtered x accel measurement noise
  • name: EKF_AW_R_ACCEL_FILT_Y value: 1e-00f
    Description: Filtered y accel measurement noise
  • name: EKF_AW_R_ACCEL_FILT_Z value: 1e-00f
    Description: Filtered z accel measurement noise
  • name: EKF_AW_R_V_PITOT value: 1e-00f
    Description: Pitot Tube Velocity measurement noise
  • name: EKF_AW_WING_INSTALLED value: false
    Description: Use wing contribution
  • name: EKF_AW_USE_MODEL_BASED value: false
    Description: Use model based to augment filter
  • name: EKF_AW_USE_BETA value: false
    Description: Use beta to estimate sideforce
  • name: EKF_AW_PROPAGATE_OFFSET value: false
    Description: Propagate the offset state
  • name: EKF_AW_VEHICLE_MASS value: 0.0
    Description: Mass of the vehicle
  • name: EKF_AW_K1_FX_DRAG value: 0.f
    Description: Drag coefficient linear to u used if use model based is set to false
  • name: EKF_AW_K2_FX_DRAG value: 0.f
    Description: Drag coefficient linear to u^2 used if use model based is set to false
  • name: EKF_AW_K_FY_BETA value: 1e-00f
    Description: Fy v (side velocity) coefficient
  • name: EKF_AW_K_FY_V value: 1e-00f
    Description: Fy beta coefficient
  • name: EKF_AW_K1_FX_FUSELAGE value: 1e-00f
    Description: Fx Fuselage Coeff
  • name: EKF_AW_K2_FX_FUSELAGE value: 1e-00f
    Description: Fx Fuselage Coeff
  • name: EKF_AW_K3_FX_FUSELAGE value: 1e-00f
    Description: Fx Fuselage Coeff
  • name: EKF_AW_K4_FX_FUSELAGE value: 1e-00f
    Description: Fx Fuselage Coeff
  • name: EKF_AW_K1_FX_HOVER value: 1e-00f
    Description: Fx Hover Prop Coeff
  • name: EKF_AW_K2_FX_HOVER value: 1e-00f
    Description: Fx Hover Prop Coeff
  • name: EKF_AW_K1_FX_WING value: 1e-00f
    Description: Fx Wing Coeff
  • name: EKF_AW_K2_FX_WING value: 1e-00f
    Description: Fx Wing Coeff
  • name: EKF_AW_K3_FX_WING value: 1e-00f
    Description: Fx Wing Coeff
  • name: EKF_AW_K4_FX_WING value: 1e-00f
    Description: Fx Wing Coeff
  • name: EKF_AW_K5_FX_WING value: 1e-00f
    Description: Fx Wing Coeff
  • name: EKF_AW_K1_FX_PUSH value: 1e-00f
    Description: Fx Pusher Coeff
  • name: EKF_AW_K2_FX_PUSH value: 1e-00f
    Description: Fx Pusher Coeff
  • name: EKF_AW_K3_FX_PUSH value: 1e-00f
    Description: Fx Pusher Coeff
  • name: EKF_AW_K1_FX_ELEV value: 1e-00f
    Description: Fx Elevator Coeff
  • name: EKF_AW_K2_FX_ELEV value: 1e-00f
    Description: Fx Elevator Coeff
  • name: EKF_AW_K3_FX_ELEV value: 1e-00f
    Description: Fx Elevator Coeff
  • name: EKF_AW_K1_FZ_FUSELAGE value: 1e-00f
    Description: Fz Fuselage Coeff
  • name: EKF_AW_K2_FZ_FUSELAGE value: 1e-00f
    Description: Fz Fuselage Coeff
  • name: EKF_AW_K3_FZ_FUSELAGE value: 1e-00f
    Description: Fz Fuselage Coeff
  • name: EKF_AW_K4_FZ_FUSELAGE value: 1e-00f
    Description: Fz Fuselage Coeff
  • name: EKF_AW_K1_FZ_HOVER value: 1e-00f
    Description: Fz Hover Prop Coeff
  • name: EKF_AW_K2_FZ_HOVER value: 1e-00f
    Description: Fz Hover Prop Coeff
  • name: EKF_AW_K3_FZ_HOVER value: 1e-00f
    Description: Fz Hover Prop Coeff
  • name: EKF_AW_K4_FZ_HOVER value: 1e-00f
    Description: Fz Hover Prop Coeff
  • name: EKF_AW_K1_Fz_WING value: 1e-00f
    Description: Fz Wing Coeff
  • name: EKF_AW_K2_Fz_WING value: 1e-00f
    Description: Fz Wing Coeff
  • name: EKF_AW_K3_Fz_WING value: 1e-00f
    Description: Fz Wing Coeff
  • name: EKF_AW_K4_Fz_WING value: 1e-00f
    Description: Fz Wing Coeff
  • name: EKF_AW_K5_Fz_WING value: 1e-00f
    Description: Fz Wing Coeff
  • name: EKF_AW_K1_FZ_ELEV value: 1e-00f
    Description: Fz Elevator Coeff
  • name: EKF_AW_K2_FZ_ELEV value: 1e-00f
    Description: Fz Elevator Coeff
  • name: EKF_AW_ELEV_MAX_ANGLE value: 1e-00f
    Description: Maximum elevator angle
  • name: EKF_AW_ELEV_MIN_ANGLE value: 1e-00f
    Description: Minimum elevator angle
  • name: EKF_AW_AOA_MAX_ANGLE value: 1e-00f
    Description: Maximum angle of attack
  • name: EKF_AW_AOA_MIN_ANGLE value: 1e-00f
    Description: Minimum angle of attack

Module functions

Init Functions

These initialization functions are called once on startup.

Periodic Functions

These functions are called periodically at the specified frequency from the module periodic loop.

  • ekf_aw_wrapper_periodic()
    • Frequency in Hz: 25
    • Autorun: LOCK
      Periodic function automatically starts after init and can't be stopped.
  • ekf_aw_wrapper_fetch()
    • Frequency in Hz: 100
    • Autorun: LOCK
      Periodic function automatically starts after init and can't be stopped.

Files

Header Files

The following headers are automatically included in modules.h

Source Files

Raw ekf_aw.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
<module name="ekf_aw" dir="meteo">
<doc>
<description>
Airspeed and Wind Estimator with EKF
Frédéric Larocque
</description>
<define name="PERIODIC_FREQUENCY_AIRSPEED_EKF" value="25" description="Airspeed periodic frequency"/>
<define name="PERIODIC_FREQUENCY_AIRSPEED_EKF_FETCH" value="100" description="Airspeed periodic fetch frequency"/>
<define name="EKF_AW_P0_V_BODY" value="1e-00f" description="Initial covariance body velocity"/>
<define name="EKF_AW_P0_MU" value="1e-00f" description="Initial covariance wind"/>
<define name="EKF_AW_P0_OFFSET" value="1e-00f" description="Initial covariance offset"/>
<define name="EKF_AW_Q_ACCEL" value="1e-00f" description="Accel process noise"/>
<define name="EKF_AW_Q_GYRO" value="1e-00f" description="Gyro process noise"/>
<define name="EKF_AW_Q_MU" value="1e-00f" description="Wind process noise"/>
<define name="EKF_AW_Q_OFFSET" value="1e-00f" description="Offset process noise"/>
<define name="EKF_AW_R_V_GND" value="1e-00f" description="GPS Velocity measurement noise"/>
<define name="EKF_AW_R_ACCEL_FILT_X" value="1e-00f" description="Filtered x accel measurement noise"/>
<define name="EKF_AW_R_ACCEL_FILT_Y" value="1e-00f" description="Filtered y accel measurement noise"/>
<define name="EKF_AW_R_ACCEL_FILT_Z" value="1e-00f" description="Filtered z accel measurement noise"/>
<define name="EKF_AW_R_V_PITOT" value="1e-00f" description="Pitot Tube Velocity measurement noise"/>
<define name="EKF_AW_WING_INSTALLED" value="false" description="Use wing contribution"/>
<define name="EKF_AW_USE_MODEL_BASED" value="false" description="Use model based to augment filter"/>
<define name="EKF_AW_USE_BETA" value="false" description="Use beta to estimate sideforce"/>
<define name="EKF_AW_PROPAGATE_OFFSET" value="false" description="Propagate the offset state"/>
<define name="EKF_AW_VEHICLE_MASS" value="0.0" description="Mass of the vehicle"/>
<define name="EKF_AW_K1_FX_DRAG" value="0.f" description="Drag coefficient linear to u used if use model based is set to false"/>
<define name="EKF_AW_K2_FX_DRAG" value="0.f" description="Drag coefficient linear to u^2 used if use model based is set to false"/>
<define name="EKF_AW_K_FY_BETA" value="1e-00f" description="Fy v (side velocity) coefficient"/>
<define name="EKF_AW_K_FY_V" value="1e-00f" description="Fy beta coefficient"/>
<define name="EKF_AW_K1_FX_FUSELAGE" value="1e-00f" description="Fx Fuselage Coeff"/>
<define name="EKF_AW_K2_FX_FUSELAGE" value="1e-00f" description="Fx Fuselage Coeff"/>
<define name="EKF_AW_K3_FX_FUSELAGE" value="1e-00f" description="Fx Fuselage Coeff"/>
<define name="EKF_AW_K4_FX_FUSELAGE" value="1e-00f" description="Fx Fuselage Coeff"/>
<define name="EKF_AW_K1_FX_HOVER" value="1e-00f" description="Fx Hover Prop Coeff"/>
<define name="EKF_AW_K2_FX_HOVER" value="1e-00f" description="Fx Hover Prop Coeff"/>
<define name="EKF_AW_K1_FX_WING" value="1e-00f" description="Fx Wing Coeff"/>
<define name="EKF_AW_K2_FX_WING" value="1e-00f" description="Fx Wing Coeff"/>
<define name="EKF_AW_K3_FX_WING" value="1e-00f" description="Fx Wing Coeff"/>
<define name="EKF_AW_K4_FX_WING" value="1e-00f" description="Fx Wing Coeff"/>
<define name="EKF_AW_K5_FX_WING" value="1e-00f" description="Fx Wing Coeff"/>
<define name="EKF_AW_K1_FX_PUSH" value="1e-00f" description="Fx Pusher Coeff"/>
<define name="EKF_AW_K2_FX_PUSH" value="1e-00f" description="Fx Pusher Coeff"/>
<define name="EKF_AW_K3_FX_PUSH" value="1e-00f" description="Fx Pusher Coeff"/>
<define name="EKF_AW_K1_FX_ELEV" value="1e-00f" description="Fx Elevator Coeff"/>
<define name="EKF_AW_K2_FX_ELEV" value="1e-00f" description="Fx Elevator Coeff"/>
<define name="EKF_AW_K3_FX_ELEV" value="1e-00f" description="Fx Elevator Coeff"/>
<define name="EKF_AW_K1_FZ_FUSELAGE" value="1e-00f" description="Fz Fuselage Coeff"/>
<define name="EKF_AW_K2_FZ_FUSELAGE" value="1e-00f" description="Fz Fuselage Coeff"/>
<define name="EKF_AW_K3_FZ_FUSELAGE" value="1e-00f" description="Fz Fuselage Coeff"/>
<define name="EKF_AW_K4_FZ_FUSELAGE" value="1e-00f" description="Fz Fuselage Coeff"/>
<define name="EKF_AW_K1_FZ_HOVER" value="1e-00f" description="Fz Hover Prop Coeff"/>
<define name="EKF_AW_K2_FZ_HOVER" value="1e-00f" description="Fz Hover Prop Coeff"/>
<define name="EKF_AW_K3_FZ_HOVER" value="1e-00f" description="Fz Hover Prop Coeff"/>
<define name="EKF_AW_K4_FZ_HOVER" value="1e-00f" description="Fz Hover Prop Coeff"/>
<define name="EKF_AW_K1_Fz_WING" value="1e-00f" description="Fz Wing Coeff"/>
<define name="EKF_AW_K2_Fz_WING" value="1e-00f" description="Fz Wing Coeff"/>
<define name="EKF_AW_K3_Fz_WING" value="1e-00f" description="Fz Wing Coeff"/>
<define name="EKF_AW_K4_Fz_WING" value="1e-00f" description="Fz Wing Coeff"/>
<define name="EKF_AW_K5_Fz_WING" value="1e-00f" description="Fz Wing Coeff"/>
<define name="EKF_AW_K1_FZ_ELEV" value="1e-00f" description="Fz Elevator Coeff"/>
<define name="EKF_AW_K2_FZ_ELEV" value="1e-00f" description="Fz Elevator Coeff"/>
<define name="EKF_AW_ELEV_MAX_ANGLE" value="1e-00f" description="Maximum elevator angle"/>
<define name="EKF_AW_ELEV_MIN_ANGLE" value="1e-00f" description="Minimum elevator angle"/>
<define name="EKF_AW_AOA_MAX_ANGLE" value="1e-00f" description="Maximum angle of attack"/>
<define name="EKF_AW_AOA_MIN_ANGLE" value="1e-00f" description="Minimum angle of attack"/>
</doc>
<settings>
<dl_settings>
<dl_settings name="EKF_Airspeed_Wind">
<dl_setting min="0" max="1" step="1" var="ekf_aw.override_start" module="meteo/ekf_aw_wrapper" shortname="Override Start"/>
<dl_setting min="0" max="1" step="1" var="ekf_aw.override_quick_convergence" module="meteo/ekf_aw_wrapper" shortname="Override Quick Convergence"/>
<dl_setting min="0" max="1" step="1" var="ekf_aw.reset" module="meteo/ekf_aw_wrapper" shortname="Reset States and Health" handler="reset"/>
<dl_setting min="0" max="1" step="1" var="ekf_aw_params.propagate_offset" module="meteo/ekf_aw" shortname="propagate offset"/>
<dl_setting min="1E-1" max="8" step="1E-1" var="ekf_aw_params.vehicle_mass" module="meteo/ekf_aw" shortname="Vehicle Mass"/>
<dl_setting min="-1" max="0" step="1E-3" var="ekf_aw_params.k_fx_drag[0]" module="meteo/ekf_aw" shortname="k_drag_lin"/>
<dl_setting min="-1" max="0" step="1E-3" var="ekf_aw_params.k_fx_drag[1]" module="meteo/ekf_aw" shortname="k_drag_quad"/>
<dl_setting min="-5E-2" max="0" step="1E-4" var="ekf_aw_params.k_fy_beta" module="meteo/ekf_aw" shortname="k_beta"/>
<dl_setting min="-5E-2" max="0" step="1E-4" var="ekf_aw_params.k_fy_v" module="meteo/ekf_aw" shortname="k_v"/>
<dl_setting min="1E-9" max="1E-2" step="1E-8" var="ekf_aw_params.Q_accel" module="meteo/ekf_aw" shortname="Q accel" handler="update_Q_accel"/>
<dl_setting min="1E-9" max="1E-2" step="1E-8" var="ekf_aw_params.Q_gyro" module="meteo/ekf_aw" shortname="Q gyro" handler="update_Q_gyro"/>
<dl_setting min="1E-9" max="1E-2" step="1E-8" var="ekf_aw_params.Q_mu" module="meteo/ekf_aw" shortname="Q wind" handler="update_Q_mu"/>
<dl_setting min="1E-9" max="1E-2" step="1E-8" var="ekf_aw_params.Q_k" module="meteo/ekf_aw" shortname="Q offset" handler="update_Q_k"/>
<dl_setting min="1E-9" max="1E-2" step="1E-8" var="ekf_aw_params.R_V_gnd" module="meteo/ekf_aw" shortname="R V_gnd" handler="update_R_V_gnd"/>
<dl_setting min="1E-9" max="1E-2" step="1E-8" var="ekf_aw_params.R_accel_filt[0]" module="meteo/ekf_aw" shortname="R Accel Filt x" handler="update_R_accel_filt_x"/>
<dl_setting min="1E-9" max="1E-2" step="1E-8" var="ekf_aw_params.R_accel_filt[1]" module="meteo/ekf_aw" shortname="R Accel Filt y" handler="update_R_accel_filt_y"/>
<dl_setting min="1E-9" max="1E-2" step="1E-8" var="ekf_aw_params.R_accel_filt[2]" module="meteo/ekf_aw" shortname="R Accel Filt z" handler="update_R_accel_filt_z"/>
<dl_setting min="1E-9" max="1E-2" step="1E-8" var="ekf_aw_params.R_V_pitot" module="meteo/ekf_aw" shortname="R Pitot" handler="update_R_V_pitot"/>
<dl_setting min="-10" max="10" step="0.1" var="ekf_aw.wind_guess.x" module="meteo/ekf_aw_wrapper" shortname="Wind Guess N" handler="set_wind_N"/>
<dl_setting min="-10" max="10" step="0.1" var="ekf_aw.wind_guess.y" module="meteo/ekf_aw_wrapper" shortname="Wind Guess E" handler="set_wind_E"/>
<dl_setting min="-10" max="10" step="0.1" var="ekf_aw.wind_guess.z" module="meteo/ekf_aw_wrapper" shortname="Wind Guess D" handler="set_wind_D"/>
<dl_setting min="-1" max="1" step="1E-3" var="ekf_aw.offset_guess.x" module="meteo/ekf_aw_wrapper" shortname="Offset Guess x" handler="set_offset_x"/>
<dl_setting min="-1" max="1" step="1E-3" var="ekf_aw.offset_guess.y" module="meteo/ekf_aw_wrapper" shortname="Offset Guess y" handler="set_offset_y"/>
<dl_setting min="-1" max="1" step="1E-3" var="ekf_aw.offset_guess.z" module="meteo/ekf_aw_wrapper" shortname="Offset Guess z" handler="set_offset_z"/>
</dl_settings>
</dl_settings>
</settings>
<header>
<file name="ekf_aw_wrapper.h"/>
</header>
<init fun="ekf_aw_wrapper_init()"/>
<periodic fun="ekf_aw_wrapper_periodic()" freq="25"/>
<periodic fun="ekf_aw_wrapper_fetch()" freq="100"/>
<makefile target="ap|nps">
<file name="ekf_aw.cpp"/>
<file name="ekf_aw_wrapper.c"/>
<include name="$(PAPARAZZI_SRC)/sw/ext/matrix/"/>
</makefile>
</module>
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