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vf_float.c File Reference
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Macros

#define INIT_PXX   1.
 
#define ACCEL_NOISE   0.5
 
#define Qzz   ACCEL_NOISE/512./512./2.
 
#define Qzdotzdot   ACCEL_NOISE/512.
 
#define Qbiasbias   1e-7
 
#define R   1.
 

Functions

void vff_init (float init_z, float init_zdot, float init_bias)
 
void vff_propagate (float accel)
 
 __attribute__ ((always_inline))
 
void vff_update (float z_meas)
 
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)
 

Variables

float vff_z
 
float vff_bias
 
float vff_zdot
 
float vff_zdotdot
 
float vff_P [VFF_STATE_SIZE][VFF_STATE_SIZE]
 
float vff_z_meas
 

Macro Definition Documentation

#define ACCEL_NOISE   0.5

Definition at line 38 of file vf_float.c.

#define INIT_PXX   1.

Definition at line 36 of file vf_float.c.

Referenced by vff_init().

#define Qbiasbias   1e-7

Definition at line 41 of file vf_float.c.

Referenced by vff_propagate().

#define Qzdotzdot   ACCEL_NOISE/512.

Definition at line 40 of file vf_float.c.

Referenced by vff_propagate().

#define Qzz   ACCEL_NOISE/512./512./2.

Definition at line 39 of file vf_float.c.

Referenced by vff_propagate().

#define R   1.

Definition at line 42 of file vf_float.c.

Referenced by vff_update().

Function Documentation

__attribute__ ( (always_inline)  )

Definition at line 125 of file vf_float.c.

References vff_bias, vff_P, vff_z, vff_z_meas, vff_zdot, and HfilterFloat::y.

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

Definition at line 53 of file vf_float.c.

References INIT_PXX, vff_bias, vff_P, VFF_STATE_SIZE, vff_z, and vff_zdot.

Referenced by ins_init().

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void vff_propagate ( float  accel)

Definition at line 84 of file vf_float.c.

References Qbiasbias, Qzdotzdot, Qzz, vff_bias, vff_P, vff_z, vff_zdot, and vff_zdotdot.

Referenced by ins_propagate().

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void vff_realign ( float  z_meas)

Definition at line 219 of file vf_float.c.

References vff_z, and vff_zdot.

Referenced by ins_realign_v(), and ins_update_baro().

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void vff_update ( float  z_meas)

Definition at line 160 of file vf_float.c.

References R.

Referenced by ins_update_baro().

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void vff_update_vz_conf ( float  vz_meas,
float  conf 
)

Definition at line 215 of file vf_float.c.

void vff_update_z_conf ( float  z_meas,
float  conf 
)

Definition at line 164 of file vf_float.c.

Variable Documentation

float vff_bias

Definition at line 45 of file vf_float.c.

Referenced by __attribute__(), vff_init(), and vff_propagate().

Definition at line 49 of file vf_float.c.

Referenced by __attribute__(), vff_init(), and vff_propagate().

float vff_z
float vff_z_meas

Definition at line 51 of file vf_float.c.

Referenced by __attribute__().

float vff_zdot
float vff_zdotdot

Definition at line 47 of file vf_float.c.

Referenced by ins_propagate(), ins_update_baro(), and vff_propagate().