vf_extended_float.h File Reference

Interface for extended vertical filter (in float). More...

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Data Structures
struct	VffExtended

Macros
#define	VFF_STATE_SIZE   5

Functions
void	vff_init_zero (void)
void	vff_init (float z, float zdot, float accel_bias, float baro_offset, float obstacle_hieght)
void	vff_propagate (float accel, float dt)
	Propagate the filter in time. More...
void	vff_update_baro (float z_meas)
void	vff_update_z (float z_meas)
void	vff_update_baro_conf (float z_meas, float conf)
void	vff_update_z_conf (float z_meas, float conf)
void	vff_update_vz_conf (float vz_meas, float conf)
void	vff_realign (float z_meas)
void	vff_update_agl (float z_meas, float conf)

Variables
struct VffExtended	vff

Detailed Description

Interface for extended vertical filter (in float).

Definition in file vf_extended_float.h.

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Data Structure Documentation

VffExtended

struct VffExtended

Definition at line 35 of file vf_extended_float.h.

Data Fields
float	accel_noise
float	bias	accel bias estimate in m/s^2
float	obs_height	estimate of height of obstacles under the vehicle
float	offset	baro offset estimate
float	P[VFF_STATE_SIZE][VFF_STATE_SIZE]	covariance matrix
float	r_alt
float	r_baro
float	r_obs_height
float	z	z-position estimate in m (NED, z-down)
float	z_meas	last z measurement in m
float	z_meas_baro	last z measurement from baro in m
float	zdot	z-velocity estimate in m/s (NED, z-down)
float	zdotdot	z-acceleration in m/s^2 (NED, z-down)

Macro Definition Documentation

VFF_STATE_SIZE

#define VFF_STATE_SIZE   5

Definition at line 33 of file vf_extended_float.h.

Function Documentation

vff_init()

void vff_init	(	float	z,
		float	zdot,
		float	accel_bias,
		float	baro_offset,
		float	obstacle_hieght
	)

Definition at line 127 of file vf_extended_float.c.

References VffExtended::accel_noise, VffExtended::bias, DefaultPeriodic, VffExtended::obs_height, VffExtended::offset, VffExtended::P, R_ALT, VffExtended::r_alt, VffExtended::r_baro, R_OBS_HEIGHT, VffExtended::r_obs_height, register_periodic_telemetry(), send_vffe(), vff, VFF_EXTENDED_ACCEL_NOISE, VFF_EXTENDED_INIT_PXX, VFF_EXTENDED_R_BARO, VFF_STATE_SIZE, VffExtended::z, and VffExtended::zdot.

Referenced by vff_init_zero().

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vff_init_zero()

void vff_init_zero

(

void

)

Definition at line 107 of file vf_extended_float.c.

vff_propagate()

void vff_propagate	(	float	accel,
		float	dt
	)

Propagate the filter in time.

F = [ 1 dt -dt^2/2 0 0 0 1 -dt 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 1 ];

B = [ dt^2/2 dt 0 0 0]';

Q = [ Qzz 0 0 0 0 0 Qzdotzdot 0 0 0 0 0 Qbiasbias 0 0 0 0 0 0 Qoffoff 0 0 0 0 0 0 Qobsobs ];

Qzz = VFF_EXTENDED_ACCEL_NOISE * DT_VFILTER * DT_VFILTER / 2. Qzdotzdot = VFF_EXTENDED_ACCEL_NOISE * DT_VFILTER

Xk1 = F * Xk0 + B * accel;

Pk1 = F * Pk0 * F' + Q;

F = [ 1 dt -dt^2/2 0 1 -dt 0 0 1 ];

B = [ dt^2/2 dt 0]';

Q = [ 0.01 0 0 0 0.01 0 0 0 0.001 ];

Xk1 = F * Xk0 + B * accel;

Pk1 = F * Pk0 * F' + Q;

Definition at line 181 of file vf_extended_float.c.

vff_realign()

void vff_realign

(

float

z_meas

)

Definition at line 384 of file vf_extended_float.c.

vff_update_agl()

void vff_update_agl	(	float	z_meas,
		float	conf
	)

Definition at line 321 of file vf_extended_float.c.

References vff_update_z_conf(), and VffExtended::z_meas.

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vff_update_baro()

void vff_update_baro

(

float

z_meas

)

Definition at line 333 of file vf_extended_float.c.

References VffExtended::r_baro, vff, vff_update_baro_conf(), and VffExtended::z_meas.

Referenced by baro_cb().

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vff_update_baro_conf()

void vff_update_baro_conf	(	float	z_meas,
		float	conf
	)

Definition at line 327 of file vf_extended_float.c.

References update_biased_z_conf(), and VffExtended::z_meas.

Referenced by vff_update_baro().

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vff_update_vz_conf()

void vff_update_vz_conf	(	float	vz_meas,
		float	conf
	)

Definition at line 433 of file vf_extended_float.c.

vff_update_z()

void vff_update_z

(

float

z_meas

)

Definition at line 316 of file vf_extended_float.c.

References VffExtended::r_alt, vff, vff_update_z_conf(), and VffExtended::z_meas.

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vff_update_z_conf()

void vff_update_z_conf	(	float	z_meas,
		float	conf
	)

Definition at line 310 of file vf_extended_float.c.

Variable Documentation

vff

struct VffExtended vff

extern

Definition at line 1 of file vf_extended_float.c.