Paparazzi UAS  v4.2.2_stable-4-gcc32f65
Paparazzi is a free software Unmanned Aircraft System.
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alt_filter.c File Reference
#include "modules/ins/alt_filter.h"
#include "subsystems/gps.h"
#include "modules/sensors/baro_ets.h"
#include "mcu_periph/uart.h"
#include "messages.h"
#include "subsystems/datalink/downlink.h"
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Go to the source code of this file.

Macros

#define DOWNLINK_DEVICE   DOWNLINK_AP_DEVICE
 

Functions

void kalmanInit (TypeKalman *k)
 
void kalmanEstimation (TypeKalman *k, float accVert)
 
void kalmanCorrectionGPS (TypeKalman *k, float altitude_gps)
 
void kalmanCorrectionAltimetre (TypeKalman *k, float altitude_altimetre)
 
void alt_filter_init (void)
 
void alt_filter_periodic (void)
 

Variables

TypeKalman alt_filter
 
float SigAltiGPS
 
float SigAltiAltimetre
 
float MarcheAleaBiaisAltimetre
 
float MarcheAleaAccelerometre
 
float last_gps_alt
 
float last_baro_alt
 

Macro Definition Documentation

#define DOWNLINK_DEVICE   DOWNLINK_AP_DEVICE

Definition at line 28 of file alt_filter.c.

Function Documentation

void alt_filter_init ( void  )

Definition at line 52 of file alt_filter.c.

References kalmanInit(), last_baro_alt, last_gps_alt, MarcheAleaAccelerometre, MarcheAleaBiaisAltimetre, SigAltiAltimetre, and SigAltiGPS.

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void alt_filter_periodic ( void  )
void kalmanCorrectionAltimetre ( TypeKalman k,
float  altitude_altimetre 
)

Definition at line 223 of file alt_filter.c.

References TypeKalman::P, SigAltiAltimetre, and TypeKalman::X.

Referenced by alt_filter_periodic().

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void kalmanCorrectionGPS ( TypeKalman k,
float  altitude_gps 
)

Definition at line 177 of file alt_filter.c.

References TypeKalman::P, SigAltiGPS, and TypeKalman::X.

Referenced by alt_filter_periodic().

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void kalmanEstimation ( TypeKalman k,
float  accVert 
)

Definition at line 130 of file alt_filter.c.

References TypeKalman::Ad, TypeKalman::Bd, TypeKalman::Md, TypeKalman::P, TypeKalman::W, and TypeKalman::X.

Referenced by alt_filter_periodic().

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void kalmanInit ( TypeKalman k)

Definition at line 92 of file alt_filter.c.

References TypeKalman::Ad, TypeKalman::Bd, MarcheAleaAccelerometre, MarcheAleaBiaisAltimetre, TypeKalman::Md, TypeKalman::P, TypeKalman::Te, TypeKalman::W, and TypeKalman::X.

Referenced by alt_filter_init().

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Variable Documentation

TypeKalman alt_filter

Definition at line 34 of file alt_filter.c.

float last_baro_alt

Definition at line 50 of file alt_filter.c.

Referenced by alt_filter_init(), and alt_filter_periodic().

float last_gps_alt

Definition at line 49 of file alt_filter.c.

Referenced by alt_filter_init(), and alt_filter_periodic().

float MarcheAleaAccelerometre

Definition at line 40 of file alt_filter.c.

Referenced by alt_filter_init(), and kalmanInit().

float MarcheAleaBiaisAltimetre

Definition at line 39 of file alt_filter.c.

Referenced by alt_filter_init(), and kalmanInit().

float SigAltiAltimetre

Definition at line 38 of file alt_filter.c.

Referenced by alt_filter_init(), and kalmanCorrectionAltimetre().

float SigAltiGPS

Definition at line 37 of file alt_filter.c.

Referenced by alt_filter_init(), and kalmanCorrectionGPS().