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ahrs_float_ekf.c File Reference
+ Include dependency graph for ahrs_float_ekf.c:

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Macros

#define BAFE_SSIZE   7
 
#define bafe_Q_gyro   8e-03
 
#define BAFE_R_PHI   1.3 * 1.3
 
#define BAFE_R_THETA   1.3 * 1.3
 
#define BAFE_R_PSI   2.5 * 2.5
 
#define BAFE_DT   (1./512.)
 

Functions

void ahrs_init (void)
 
void ahrs_align (void)
 
void ahrs_propagate (void)
 Propagation. More...
 
void ahrs_update (void)
 

Variables

struct FloatQuat bafe_quat
 
struct FloatRates bafe_bias
 
struct FloatRates bafe_rates
 
struct FloatEulers bafe_eulers
 
struct FloatEulers bafe_dcm
 
struct FloatQuat bafe_qdot
 
float bafe_P [BAFE_SSIZE][BAFE_SSIZE]
 
float bafe_Pdot [BAFE_SSIZE][BAFE_SSIZE]
 
float bafe_F [4][7]
 
float bafe_PHt [7]
 
float bafe_K [7]
 
float bafe_E
 
float bafe_H [4]
 
float bafe_FP [4][7]
 

Macro Definition Documentation

#define BAFE_DT   (1./512.)

Definition at line 87 of file ahrs_float_ekf.c.

Referenced by ahrs_propagate().

#define bafe_Q_gyro   8e-03

Definition at line 73 of file ahrs_float_ekf.c.

#define BAFE_R_PHI   1.3 * 1.3

Definition at line 82 of file ahrs_float_ekf.c.

#define BAFE_R_PSI   2.5 * 2.5

Definition at line 84 of file ahrs_float_ekf.c.

#define BAFE_R_THETA   1.3 * 1.3

Definition at line 83 of file ahrs_float_ekf.c.

#define BAFE_SSIZE   7

Definition at line 37 of file ahrs_float_ekf.c.

Function Documentation

void ahrs_align ( void  )

Definition at line 74 of file ahrs_chimu_spi.c.

void ahrs_init ( void  )

Definition at line 40 of file ahrs_chimu_spi.c.

void ahrs_propagate ( void  )

Propagation.

Usually integrates the gyro rates to angles. Reads the global imu data struct. Needs to be implemented by each AHRS algorithm.

Definition at line 120 of file ahrs_float_ekf.c.

References bafe_bias, BAFE_DT, bafe_F, bafe_qdot, bafe_quat, bafe_rates, Imu::gyro, imu, FloatRates::p, FloatRates::q, FloatQuat::qi, FloatQuat::qx, FloatQuat::qy, FloatQuat::qz, FloatRates::r, RATES_FLOAT_OF_BFP, and RATES_SUB.

void ahrs_update ( void  )

Definition at line 854 of file ahrs_float_lkf.c.

Variable Documentation

struct FloatRates bafe_bias

Definition at line 27 of file ahrs_float_ekf.c.

Referenced by ahrs_propagate().

struct FloatEulers bafe_dcm

Definition at line 33 of file ahrs_float_ekf.c.

float bafe_E

Definition at line 54 of file ahrs_float_ekf.c.

struct FloatEulers bafe_eulers

Definition at line 31 of file ahrs_float_ekf.c.

float bafe_F[4][7]

Definition at line 47 of file ahrs_float_ekf.c.

Referenced by ahrs_propagate().

float bafe_FP[4][7]

Definition at line 63 of file ahrs_float_ekf.c.

float bafe_H[4]

Definition at line 61 of file ahrs_float_ekf.c.

float bafe_K[7]

Definition at line 53 of file ahrs_float_ekf.c.

float bafe_P[BAFE_SSIZE][BAFE_SSIZE]

Definition at line 39 of file ahrs_float_ekf.c.

float bafe_Pdot[BAFE_SSIZE][BAFE_SSIZE]

Definition at line 40 of file ahrs_float_ekf.c.

float bafe_PHt[7]

Definition at line 52 of file ahrs_float_ekf.c.

struct FloatQuat bafe_qdot

Definition at line 35 of file ahrs_float_ekf.c.

Referenced by ahrs_propagate().

struct FloatQuat bafe_quat

Definition at line 25 of file ahrs_float_ekf.c.

Referenced by ahrs_propagate().

struct FloatRates bafe_rates

Definition at line 29 of file ahrs_float_ekf.c.

Referenced by ahrs_propagate().