Paparazzi UAS  v4.2.2_stable-4-gcc32f65
Paparazzi is a free software Unmanned Aircraft System.
 All Data Structures Files Functions Variables Typedefs Enumerations Enumerator Macros Pages
hf_float.h File Reference
#include "std.h"
#include "math/pprz_algebra_float.h"
+ Include dependency graph for hf_float.h:
+ This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Data Structures

struct  HfilterFloat
 

Macros

#define HFF_STATE_SIZE   2
 
#define AHRS_PROPAGATE_FREQUENCY   PERIODIC_FREQUENCY
 
#define HFF_FREQ   (AHRS_PROPAGATE_FREQUENCY/HFF_PRESCALER)
 
#define DT_HFILTER   (1./HFF_FREQ)
 
#define HFF_UPDATE_SPEED
 
#define HFF_LOST_LIMIT   1000
 

Functions

void b2_hff_init (float init_x, float init_xdot, float init_y, float init_ydot)
 
void b2_hff_propagate (void)
 
void b2_hff_update_gps (void)
 
void b2_hff_update_pos (struct FloatVect2 pos, struct FloatVect2 Rpos)
 
void b2_hff_update_vel (struct FloatVect2 vel, struct FloatVect2 Rvel)
 
void b2_hff_realign (struct FloatVect2 pos, struct FloatVect2 vel)
 
void b2_hff_store_accel_body (void)
 

Variables

struct HfilterFloat b2_hff_state
 
float b2_hff_x_meas
 
float b2_hff_y_meas
 
float b2_hff_xd_meas
 
float b2_hff_yd_meas
 
float b2_hff_xdd_meas
 
float b2_hff_ydd_meas
 
uint16_t b2_hff_lost_limit
 
uint16_t b2_hff_lost_counter
 
struct HfilterFloatb2_hff_rb_last
 
int lag_counter_err
 
int save_counter
 

Macro Definition Documentation

#define AHRS_PROPAGATE_FREQUENCY   PERIODIC_FREQUENCY

Definition at line 33 of file hf_float.h.

#define DT_HFILTER   (1./HFF_FREQ)

Definition at line 48 of file hf_float.h.

Referenced by b2_hff_init(), b2_hff_propagate_x(), and b2_hff_propagate_y().

#define HFF_FREQ   (AHRS_PROPAGATE_FREQUENCY/HFF_PRESCALER)

Definition at line 47 of file hf_float.h.

#define HFF_LOST_LIMIT   1000

Definition at line 83 of file hf_float.h.

Referenced by b2_hff_init().

#define HFF_STATE_SIZE   2

Definition at line 30 of file hf_float.h.

Referenced by b2_hff_init_x(), and b2_hff_init_y().

#define HFF_UPDATE_SPEED

Definition at line 50 of file hf_float.h.

Function Documentation

void b2_hff_init ( float  init_x,
float  init_xdot,
float  init_y,
float  init_ydot 
)
void b2_hff_realign ( struct FloatVect2  pos,
struct FloatVect2  vel 
)

Definition at line 552 of file hf_float.c.

References b2_hff_rb_n, b2_hff_state, past_save_counter, save_counter, SAVE_DONE, FloatVect2::x, HfilterFloat::x, HfilterFloat::xdot, FloatVect2::y, HfilterFloat::y, and HfilterFloat::ydot.

Referenced by ins_update_gps().

+ Here is the caller graph for this function:

void b2_hff_store_accel_body ( void  )

Definition at line 114 of file hf_float.c.

References acc_body, Imu::accel, Imu::body_to_imu_rmat, AccBuf::buf, imu, INT32_RMAT_TRANSP_VMULT, AccBuf::n, AccBuf::r, AccBuf::size, and AccBuf::w.

Referenced by b2_hff_propagate().

+ Here is the caller graph for this function:

void b2_hff_update_pos ( struct FloatVect2  pos,
struct FloatVect2  Rpos 
)

Definition at line 640 of file hf_float.c.

References b2_hff_state, b2_hff_update_x(), b2_hff_update_y(), FloatVect2::x, and FloatVect2::y.

Referenced by track_event().

+ Here is the call graph for this function:

+ Here is the caller graph for this function:

void b2_hff_update_vel ( struct FloatVect2  vel,
struct FloatVect2  Rvel 
)

Definition at line 711 of file hf_float.c.

References b2_hff_state, b2_hff_update_xdot(), b2_hff_update_ydot(), FloatVect2::x, and FloatVect2::y.

+ Here is the call graph for this function:

Variable Documentation

uint16_t b2_hff_lost_counter

Definition at line 212 of file hf_float.c.

Referenced by b2_hff_init(), b2_hff_propagate(), b2_hff_update_gps(), and track_event().

uint16_t b2_hff_lost_limit

Definition at line 211 of file hf_float.c.

Referenced by b2_hff_init(), and b2_hff_propagate().

struct HfilterFloat* b2_hff_rb_last

Definition at line 197 of file hf_float.c.

float b2_hff_x_meas

Definition at line 93 of file hf_float.c.

Referenced by b2_hff_update_x().

float b2_hff_xd_meas

Definition at line 89 of file hf_float.c.

Referenced by b2_hff_update_xdot().

float b2_hff_xdd_meas

Definition at line 85 of file hf_float.c.

Referenced by b2_hff_propagate(), and b2_hff_propagate_x().

float b2_hff_y_meas

Definition at line 94 of file hf_float.c.

Referenced by b2_hff_update_y().

float b2_hff_yd_meas

Definition at line 90 of file hf_float.c.

Referenced by b2_hff_update_ydot().

float b2_hff_ydd_meas

Definition at line 86 of file hf_float.c.

Referenced by b2_hff_propagate(), and b2_hff_propagate_y().

int lag_counter_err

Definition at line 202 of file hf_float.c.

Referenced by b2_hff_init(), and b2_hff_update_gps().

int save_counter

Definition at line 205 of file hf_float.c.

Referenced by b2_hff_init(), b2_hff_propagate(), b2_hff_realign(), and b2_hff_update_gps().