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Paparazzi is a free software Unmanned Aircraft System.
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agl_vfilter.h File Reference
#include "mcu_periph/adc.h"
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Macros

#define STATE_SIZE   3
 

Functions

void agl_vf_init (float z, float zdot, float bias)
 
void agl_vf_predict (float accel)
 
void agl_vf_update (float z_meas)
 

Variables

float agl_vf_z
 
float agl_vf_zdot
 
float agl_vf_bias
 
float agl_vf_P [STATE_SIZE][STATE_SIZE]
 
struct adc_buf agl_adc_buf
 
float agl_vf_z_meas
 

Macro Definition Documentation

#define STATE_SIZE   3

Definition at line 6 of file agl_vfilter.h.

Referenced by agl_vf_init(), and alt_vf_init().

Function Documentation

void agl_vf_init ( float  z,
float  zdot,
float  bias 
)

Definition at line 34 of file agl_vfilter.c.

References adc_buf_channel(), agl_adc_buf, agl_vf_bias, agl_vf_P, agl_vf_z, agl_vf_zdot, DEFAULT_AV_NB_SAMPLE, INIT_PXX, and STATE_SIZE.

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void agl_vf_predict ( float  accel)

Definition at line 66 of file agl_vfilter.c.

References agl_vf_bias, agl_vf_P, agl_vf_z, agl_vf_zdot, Qbiasbias, Qzdotzdot, and Qzz.

void agl_vf_update ( float  z_meas)

Definition at line 107 of file agl_vfilter.c.

References agl_vf_bias, agl_vf_P, agl_vf_z, agl_vf_z_meas, agl_vf_zdot, and R.

Variable Documentation

struct adc_buf agl_adc_buf

Definition at line 28 of file agl_vfilter.c.

Referenced by agl_vf_init().

float agl_vf_bias

Definition at line 26 of file agl_vfilter.c.

Referenced by agl_vf_init(), agl_vf_predict(), and agl_vf_update().

float agl_vf_P[STATE_SIZE][STATE_SIZE]

Definition at line 30 of file agl_vfilter.c.

Referenced by agl_vf_init(), agl_vf_predict(), and agl_vf_update().

float agl_vf_z

Definition at line 24 of file agl_vfilter.c.

Referenced by agl_vf_init(), agl_vf_predict(), and agl_vf_update().

float agl_vf_z_meas

Definition at line 32 of file agl_vfilter.c.

Referenced by agl_vf_update().

float agl_vf_zdot

Definition at line 25 of file agl_vfilter.c.

Referenced by agl_vf_init(), agl_vf_predict(), and agl_vf_update().