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

Go to the source code of this file.

Macros

#define VFI_INIT_PZZ   BOOZ_INT_OF_FLOAT(1., VFI_P_FRAC)
 
#define VFI_INIT_PZDZD   BOOZ_INT_OF_FLOAT(1., VFI_P_FRAC)
 
#define VFI_INIT_PABAB   BOOZ_INT_OF_FLOAT(1., VFI_P_FRAC)
 
#define VFI_ACCEL_NOISE   0.1
 
#define VFI_DT2_2   (1./(512.*512.)/2.)
 
#define VFI_DT   (1./512.)
 
#define VFI_QZZ   BOOZ_INT_OF_FLOAT(VFI_ACCEL_NOISE*VFI_DT2_2, VFI_P_FRAC)
 
#define VFI_QZDZD   BOOZ_INT_OF_FLOAT(VFI_ACCEL_NOISE*VFI_DT, VFI_P_FRAC)
 
#define VFI_QABAB   BOOZ_INT_OF_FLOAT(1e-7, VFI_P_FRAC)
 
#define VFI_R   BOOZ_INT_OF_FLOAT(1., VFI_P_FRAC)
 

Functions

void vfi_init (int32_t z0, int32_t zd0, int32_t bias0)
 
void vfi_propagate (int32_t accel_reading)
 
void vfi_update (int32_t z_meas)
 

Variables

int64_t vfi_z
 
int32_t vfi_zd
 
int32_t vfi_abias
 
int32_t vfi_zdd
 
int32_t vfi_P [VFI_S_SIZE][VFI_S_SIZE]
 

Macro Definition Documentation

#define VFI_ACCEL_NOISE   0.1

Definition at line 40 of file vf_int.c.

#define VFI_DT   (1./512.)

Definition at line 42 of file vf_int.c.

#define VFI_DT2_2   (1./(512.*512.)/2.)

Definition at line 41 of file vf_int.c.

#define VFI_INIT_PABAB   BOOZ_INT_OF_FLOAT(1., VFI_P_FRAC)

Definition at line 37 of file vf_int.c.

Referenced by vfi_init().

#define VFI_INIT_PZDZD   BOOZ_INT_OF_FLOAT(1., VFI_P_FRAC)

Definition at line 36 of file vf_int.c.

Referenced by vfi_init().

#define VFI_INIT_PZZ   BOOZ_INT_OF_FLOAT(1., VFI_P_FRAC)

Definition at line 35 of file vf_int.c.

Referenced by vfi_init().

#define VFI_QABAB   BOOZ_INT_OF_FLOAT(1e-7, VFI_P_FRAC)

Definition at line 45 of file vf_int.c.

Referenced by vfi_propagate().

#define VFI_QZDZD   BOOZ_INT_OF_FLOAT(VFI_ACCEL_NOISE*VFI_DT, VFI_P_FRAC)

Definition at line 44 of file vf_int.c.

Referenced by vfi_propagate().

#define VFI_QZZ   BOOZ_INT_OF_FLOAT(VFI_ACCEL_NOISE*VFI_DT2_2, VFI_P_FRAC)

Definition at line 43 of file vf_int.c.

Referenced by vfi_propagate().

#define VFI_R   BOOZ_INT_OF_FLOAT(1., VFI_P_FRAC)

Definition at line 46 of file vf_int.c.

Referenced by vfi_update().

Function Documentation

void vfi_init ( int32_t  z0,
int32_t  zd0,
int32_t  bias0 
)
void vfi_propagate ( int32_t  accel_reading)
void vfi_update ( int32_t  z_meas)

Definition at line 123 of file vf_int.c.

References vfi_abias, vfi_P, VFI_P_FRAC, VFI_R, vfi_z, VFI_Z_FRAC, vfi_zd, and HfilterFloat::y.

Variable Documentation

int32_t vfi_abias

Definition at line 30 of file vf_int.c.

Referenced by vfi_init(), vfi_propagate(), and vfi_update().

Definition at line 32 of file vf_int.c.

Referenced by vfi_init(), vfi_propagate(), and vfi_update().

int64_t vfi_z

Definition at line 28 of file vf_int.c.

Referenced by vfi_init(), vfi_propagate(), and vfi_update().

int32_t vfi_zd

Definition at line 29 of file vf_int.c.

Referenced by vfi_init(), vfi_propagate(), and vfi_update().

int32_t vfi_zdd

Definition at line 31 of file vf_int.c.

Referenced by vfi_init(), and vfi_propagate().