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ahrs_float_lkf.h File Reference

Linearized Kalman Filter for attitude estimation. More...

#include "subsystems/ahrs.h"
#include "std.h"
#include "math/pprz_algebra_int.h"
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Go to the source code of this file.

Macros

#define BAFL_SSIZE   6
 
#define ahrs_float_lkf_SetRaccel(_v)
 
#define ahrs_float_lkf_SetRmag(_v)
 

Variables

struct FloatQuat bafl_quat
 
struct FloatRates bafl_bias
 
struct FloatRates bafl_rates
 
struct FloatEulers bafl_eulers
 
struct FloatRMat bafl_dcm
 
struct FloatQuat bafl_q_a_err
 
struct FloatQuat bafl_q_m_err
 
struct FloatRates bafl_b_a_err
 
struct FloatRates bafl_b_m_err
 
float bafl_qnorm
 
float bafl_phi_accel
 
float bafl_theta_accel
 
struct FloatVect3 bafl_accel_measure
 
struct FloatVect3 bafl_mag
 
float bafl_P [BAFL_SSIZE][BAFL_SSIZE]
 
float bafl_X [BAFL_SSIZE]
 
float bafl_sigma_accel
 
float bafl_sigma_mag
 
float bafl_R_accel
 
float bafl_R_mag
 
float bafl_Q_att
 
float bafl_Q_gyro
 

Detailed Description

Linearized Kalman Filter for attitude estimation.

Definition in file ahrs_float_lkf.h.

Macro Definition Documentation

#define ahrs_float_lkf_SetRaccel (   _v)
Value:
{ \
bafl_R_accel = _v * _v; \
}
float bafl_sigma_accel
float bafl_R_accel

Definition at line 66 of file ahrs_float_lkf.h.

Referenced by ahrs_init().

#define ahrs_float_lkf_SetRmag (   _v)
Value:
{ \
bafl_R_mag = _v * _v; \
}
float bafl_R_mag
float bafl_sigma_mag

Definition at line 70 of file ahrs_float_lkf.h.

Referenced by ahrs_init().

#define BAFL_SSIZE   6

Variable Documentation

struct FloatVect3 bafl_accel_measure

Definition at line 121 of file ahrs_float_lkf.c.

Referenced by ahrs_align(), ahrs_do_update_accel(), and ahrs_lowpass_accel().

struct FloatRates bafl_b_a_err

Definition at line 63 of file ahrs_float_lkf.c.

Referenced by ahrs_do_update_accel().

struct FloatRates bafl_b_m_err

Definition at line 65 of file ahrs_float_lkf.c.

Referenced by ahrs_do_update_mag().

struct FloatRates bafl_bias
struct FloatRMat bafl_dcm

Definition at line 56 of file ahrs_float_lkf.c.

Referenced by ahrs_do_update_accel(), ahrs_do_update_mag(), and ahrs_propagate().

struct FloatEulers bafl_eulers

Definition at line 54 of file ahrs_float_lkf.c.

Referenced by ahrs_do_update_accel(), ahrs_do_update_mag(), and ahrs_propagate().

struct FloatVect3 bafl_mag

Definition at line 124 of file ahrs_float_lkf.c.

Referenced by ahrs_do_update_mag().

float bafl_P[BAFL_SSIZE][BAFL_SSIZE]
float bafl_phi_accel

Definition at line 74 of file ahrs_float_lkf.c.

Referenced by ahrs_lowpass_accel().

struct FloatQuat bafl_q_a_err

Definition at line 59 of file ahrs_float_lkf.c.

Referenced by ahrs_do_update_accel().

float bafl_Q_att

Definition at line 147 of file ahrs_float_lkf.c.

Referenced by ahrs_init(), and ahrs_propagate().

float bafl_Q_gyro

Definition at line 146 of file ahrs_float_lkf.c.

Referenced by ahrs_init(), and ahrs_propagate().

struct FloatQuat bafl_q_m_err

Definition at line 61 of file ahrs_float_lkf.c.

Referenced by ahrs_do_update_mag().

float bafl_qnorm

Definition at line 71 of file ahrs_float_lkf.c.

Referenced by ahrs_propagate().

struct FloatQuat bafl_quat
float bafl_R_accel

Definition at line 160 of file ahrs_float_lkf.c.

Referenced by ahrs_do_update_accel().

float bafl_R_mag

Definition at line 161 of file ahrs_float_lkf.c.

Referenced by ahrs_do_update_mag().

struct FloatRates bafl_rates

Definition at line 52 of file ahrs_float_lkf.c.

Referenced by ahrs_propagate().

float bafl_sigma_accel

Definition at line 158 of file ahrs_float_lkf.c.

float bafl_sigma_mag

Definition at line 159 of file ahrs_float_lkf.c.

float bafl_theta_accel

Definition at line 75 of file ahrs_float_lkf.c.

Referenced by ahrs_lowpass_accel().

float bafl_X[BAFL_SSIZE]

Definition at line 83 of file ahrs_float_lkf.c.

Referenced by ahrs_do_update_accel(), and ahrs_do_update_mag().