uwb_positioning.h File Reference

#include "std.h"

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Macros
#define	PRIMARY_GPS   GPS_UWB

Functions
void	uwb_positioning_update_ekf_q (float v)
	settings handler
void	uwb_positioning_update_ekf_r_dist (float v)
void	uwb_positioning_update_ekf_r_speed (float v)
void	uwb_positioning_init (void)
void	uwb_positioning_periodic (void)
void	uwb_positioning_range_periodic (void)
void	uwb_positioning_report (void)
void	uwb_positioning_reset_heading_ref (void)
	Reset reference heading to current heading AHRS/INS should be aligned before calling this function.
void	uwb_range (uint16_t id)
	Weak empty implementation.

Variables
bool	uwb_positioning_use_ekf
	enable EKF filtering
float	uwb_positioning_ekf_q
	process and measurements noise
float	uwb_positioning_ekf_r_dist
float	uwb_positioning_ekf_r_speed

Detailed Description

Author

Gautier Hattenberger UWB positioning from anchor measurements.

Definition in file uwb_positioning.h.

Macro Definition Documentation

PRIMARY_GPS

#define PRIMARY_GPS   GPS_UWB

Definition at line 54 of file uwb_positioning.h.

Function Documentation

uwb_positioning_init()

void uwb_positioning_init ( void  )

extern

Definition at line 465 of file uwb_positioning.c.

References ABI_BROADCAST, UwbPositioning::anchor_ranging_idx, UwbPositioning::anchors, GpsState::cacc, GpsState::comp_id, Anchor::distance, UwbPositioning::ekf_range, ekf_range_init(), UwbPositioning::ekf_running, GpsState::fix, foo, GPS_FIX_NONE, UwbPositioning::gps_uwb, GPS_UWB_ID, Anchor::id, ids, init_median_filter_f(), UwbPositioning::initial_heading, LlaCoor_i::lat, UwbPositioning::ltp_def, ltp_def_from_lla_i(), UwbPositioning::mf, GpsState::pacc, GpsState::pdop, Anchor::pos, UwbPositioning::pos, pos_x, pos_y, pos_z, UwbPositioning::raw_dist, GpsState::sacc, UwbPositioning::speed, Anchor::time, trilateration_init(), Anchor::updated, UwbPositioning::updated, uwb_positioning, uwb_positioning_ekf_q, uwb_positioning_ekf_r_dist, uwb_positioning_ekf_r_speed, UWB_POSITIONING_INITIAL_HEADING, UWB_POSITIONING_NB_ANCHORS, UWB_POSITIONING_USE_EKF, uwb_positioning_use_ekf, uwb_ranging_cb(), uwb_ranging_ev, EnuCoor_f::x, EnuCoor_f::y, and EnuCoor_f::z.

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uwb_positioning_periodic()

void uwb_positioning_periodic ( void  )

extern

Definition at line 521 of file uwb_positioning.c.

References UwbPositioning::ekf_range, ekf_range_get_pos(), ekf_range_get_speed(), ekf_range_predict(), UwbPositioning::ekf_running, foo, gps_periodic_check(), UwbPositioning::gps_uwb, log_started, UwbPositioning::pos, pprzLogFile, process_data(), UwbPositioning::speed, uwb_positioning, and uwb_positioning_use_ekf.

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uwb_positioning_range_periodic()

void uwb_positioning_range_periodic ( void  )

extern

Definition at line 552 of file uwb_positioning.c.

References UwbPositioning::anchor_ranging_idx, UwbPositioning::anchors, foo, uwb_positioning, UWB_POSITIONING_NB_ANCHORS, and uwb_range().

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uwb_positioning_report()

void uwb_positioning_report ( void  )

extern

Definition at line 558 of file uwb_positioning.c.

References UwbPositioning::anchors, DefaultChannel, DefaultDevice, Anchor::distance, foo, UwbPositioning::pos, UwbPositioning::raw_dist, UwbPositioning::speed, uwb_positioning, EnuCoor_f::x, EnuCoor_f::y, and EnuCoor_f::z.

uwb_positioning_reset_heading_ref()

void uwb_positioning_reset_heading_ref ( void  )

extern

Reset reference heading to current heading AHRS/INS should be aligned before calling this function.

Definition at line 415 of file uwb_positioning.c.

References foo, UwbPositioning::initial_heading, FloatEulers::psi, stateGetNedToBodyEulers_f(), and uwb_positioning.

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uwb_positioning_update_ekf_q()

void uwb_positioning_update_ekf_q ( float  v )

extern

settings handler

Definition at line 579 of file uwb_positioning.c.

References UwbPositioning::ekf_range, ekf_range_update_noise(), uwb_positioning, uwb_positioning_ekf_q, uwb_positioning_ekf_r_dist, and uwb_positioning_ekf_r_speed.

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uwb_positioning_update_ekf_r_dist()

void uwb_positioning_update_ekf_r_dist ( float  v )

extern

Definition at line 585 of file uwb_positioning.c.

References UwbPositioning::ekf_range, ekf_range_update_noise(), uwb_positioning, uwb_positioning_ekf_q, uwb_positioning_ekf_r_dist, and uwb_positioning_ekf_r_speed.

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uwb_positioning_update_ekf_r_speed()

void uwb_positioning_update_ekf_r_speed ( float  v )

extern

Definition at line 591 of file uwb_positioning.c.

References UwbPositioning::ekf_range, ekf_range_update_noise(), uwb_positioning, uwb_positioning_ekf_q, uwb_positioning_ekf_r_dist, and uwb_positioning_ekf_r_speed.

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uwb_range()

void uwb_range

(

uint16_t

id

)

Weak empty implementation.

Definition at line 433 of file pdec.c.

References pdec_target_cmd_payload::dst_id, and pdec_range().

Referenced by uwb_positioning_range_periodic().

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Variable Documentation

uwb_positioning_ekf_q

float uwb_positioning_ekf_q

extern

process and measurements noise

Definition at line 187 of file uwb_positioning.c.

Referenced by uwb_positioning_init(), uwb_positioning_update_ekf_q(), uwb_positioning_update_ekf_r_dist(), and uwb_positioning_update_ekf_r_speed().

uwb_positioning_ekf_r_dist

float uwb_positioning_ekf_r_dist

extern

Definition at line 188 of file uwb_positioning.c.

Referenced by uwb_positioning_init(), uwb_positioning_update_ekf_q(), uwb_positioning_update_ekf_r_dist(), and uwb_positioning_update_ekf_r_speed().

uwb_positioning_ekf_r_speed

float uwb_positioning_ekf_r_speed

extern

Definition at line 189 of file uwb_positioning.c.

Referenced by uwb_positioning_init(), uwb_positioning_update_ekf_q(), uwb_positioning_update_ekf_r_dist(), and uwb_positioning_update_ekf_r_speed().

uwb_positioning_use_ekf

bool uwb_positioning_use_ekf

extern

enable EKF filtering

Definition at line 186 of file uwb_positioning.c.

Referenced by check_and_compute_data(), uwb_positioning_init(), and uwb_positioning_periodic().