Paparazzi UAS  v4.2.2_stable-4-gcc32f65
Paparazzi is a free software Unmanned Aircraft System.
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alt_vfilter.c File Reference
#include "alt_vfilter.h"
+ Include dependency graph for alt_vfilter.c:

Go to the source code of this file.

Macros

#define INIT_PXX   10.
 
#define Qzz   0.001
 
#define Qzdotzdot   0.001
 
#define Qbiasbias   0.00001
 
#define R   2.
 

Functions

void alt_vf_init (float init_z, float init_zdot, float init_bias)
 
void alt_vf_predict (float accel)
 
void alt_vf_update_z (float z_meas)
 
void alt_vf_update_vz (float vz)
 

Variables

float alt_vf_z
 
float alt_vf_zdot
 
float alt_vf_bias
 
float alt_vf_P [STATE_SIZE][STATE_SIZE]
 
float alt_vf_z_meas
 

Macro Definition Documentation

#define INIT_PXX   10.

Definition at line 13 of file alt_vfilter.c.

Referenced by alt_vf_init().

#define Qbiasbias   0.00001

Definition at line 17 of file alt_vfilter.c.

Referenced by alt_vf_predict().

#define Qzdotzdot   0.001

Definition at line 16 of file alt_vfilter.c.

Referenced by alt_vf_predict().

#define Qzz   0.001

Definition at line 15 of file alt_vfilter.c.

Referenced by alt_vf_predict().

#define R   2.

Definition at line 18 of file alt_vfilter.c.

Referenced by alt_vf_update_vz(), and alt_vf_update_z().

Function Documentation

void alt_vf_init ( float  init_z,
float  init_zdot,
float  init_bias 
)

Definition at line 28 of file alt_vfilter.c.

References alt_vf_bias, alt_vf_P, alt_vf_z, alt_vf_zdot, INIT_PXX, and STATE_SIZE.

void alt_vf_predict ( float  accel)

Definition at line 59 of file alt_vfilter.c.

References alt_vf_bias, alt_vf_P, alt_vf_z, alt_vf_zdot, Qbiasbias, Qzdotzdot, and Qzz.

void alt_vf_update_vz ( float  vz)

Definition at line 150 of file alt_vfilter.c.

References alt_vf_bias, alt_vf_P, alt_vf_z, alt_vf_zdot, and R.

void alt_vf_update_z ( float  z_meas)

Definition at line 101 of file alt_vfilter.c.

References alt_vf_bias, alt_vf_P, alt_vf_z, alt_vf_z_meas, alt_vf_zdot, and R.

Variable Documentation

float alt_vf_bias

Definition at line 22 of file alt_vfilter.c.

Referenced by alt_vf_init(), alt_vf_predict(), alt_vf_update_vz(), and alt_vf_update_z().

float alt_vf_P[STATE_SIZE][STATE_SIZE]

Definition at line 24 of file alt_vfilter.c.

Referenced by alt_vf_init(), alt_vf_predict(), alt_vf_update_vz(), and alt_vf_update_z().

float alt_vf_z

Definition at line 20 of file alt_vfilter.c.

Referenced by alt_vf_init(), alt_vf_predict(), alt_vf_update_vz(), and alt_vf_update_z().

float alt_vf_z_meas

Definition at line 26 of file alt_vfilter.c.

Referenced by alt_vf_update_z().

float alt_vf_zdot

Definition at line 21 of file alt_vfilter.c.

Referenced by alt_vf_init(), alt_vf_predict(), alt_vf_update_vz(), and alt_vf_update_z().