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AhrsMlkf Struct Reference

#include <ahrs_float_mlkf.h>

+ Collaboration diagram for AhrsMlkf:

Data Fields

struct FloatQuat ltp_to_imu_quat
 Rotation from LocalTangentPlane to IMU frame as unit quaternion. More...
 
struct FloatEulers ltp_to_imu_euler
 Rotation from LocalTangentPlane to IMU frame as Euler angles. More...
 
struct FloatRMat ltp_to_imu_rmat
 Rotation from LocalTangentPlane to IMU frame as Rotation Matrix. More...
 
struct FloatRates imu_rate
 Rotational velocity in IMU frame. More...
 
struct FloatRates imu_rate_previous
 
struct FloatRates imu_rate_d
 
struct FloatQuat ltp_to_body_quat
 Rotation from LocalTangentPlane to body frame as unit quaternion. More...
 
struct FloatEulers ltp_to_body_euler
 Rotation from LocalTangentPlane to body frame as Euler angles. More...
 
struct FloatRMat ltp_to_body_rmat
 Rotation from LocalTangentPlane to body frame as Rotation Matrix. More...
 
struct FloatRates body_rate
 Rotational velocity in body frame. More...
 
struct FloatRates body_rate_d
 
struct FloatRates gyro_bias
 
struct FloatQuat gibbs_cor
 
float P [6][6]
 
float lp_accel
 
struct FloatQuat body_to_imu_quat
 
struct FloatRMat body_to_imu_rmat
 

Detailed Description

Definition at line 38 of file ahrs_float_mlkf.h.

Field Documentation

struct FloatRates AhrsMlkf::body_rate

Rotational velocity in body frame.

Definition at line 49 of file ahrs_float_mlkf.h.

struct FloatRates AhrsMlkf::body_rate_d

Definition at line 50 of file ahrs_float_mlkf.h.

struct FloatQuat AhrsMlkf::body_to_imu_quat

Definition at line 59 of file ahrs_float_mlkf.h.

Referenced by ahrs_init(), and set_body_state_from_quat().

struct FloatRMat AhrsMlkf::body_to_imu_rmat

Definition at line 60 of file ahrs_float_mlkf.h.

Referenced by ahrs_init(), and set_body_state_from_quat().

struct FloatQuat AhrsMlkf::gibbs_cor

Definition at line 55 of file ahrs_float_mlkf.h.

Referenced by reset_state(), and update_state().

struct FloatRates AhrsMlkf::gyro_bias

Definition at line 52 of file ahrs_float_mlkf.h.

Referenced by ahrs_align(), ahrs_init(), propagate_ref(), and update_state().

struct FloatRates AhrsMlkf::imu_rate

Rotational velocity in IMU frame.

Definition at line 42 of file ahrs_float_mlkf.h.

Referenced by ahrs_init(), propagate_ref(), propagate_state(), and set_body_state_from_quat().

struct FloatRates AhrsMlkf::imu_rate_d

Definition at line 44 of file ahrs_float_mlkf.h.

struct FloatRates AhrsMlkf::imu_rate_previous

Definition at line 43 of file ahrs_float_mlkf.h.

float AhrsMlkf::lp_accel

Definition at line 57 of file ahrs_float_mlkf.h.

Referenced by ahrs_update_accel().

struct FloatEulers AhrsMlkf::ltp_to_body_euler

Rotation from LocalTangentPlane to body frame as Euler angles.

Definition at line 47 of file ahrs_float_mlkf.h.

struct FloatQuat AhrsMlkf::ltp_to_body_quat

Rotation from LocalTangentPlane to body frame as unit quaternion.

Definition at line 46 of file ahrs_float_mlkf.h.

struct FloatRMat AhrsMlkf::ltp_to_body_rmat

Rotation from LocalTangentPlane to body frame as Rotation Matrix.

Definition at line 48 of file ahrs_float_mlkf.h.

struct FloatEulers AhrsMlkf::ltp_to_imu_euler

Rotation from LocalTangentPlane to IMU frame as Euler angles.

Definition at line 40 of file ahrs_float_mlkf.h.

struct FloatQuat AhrsMlkf::ltp_to_imu_quat

Rotation from LocalTangentPlane to IMU frame as unit quaternion.

Definition at line 39 of file ahrs_float_mlkf.h.

Referenced by ahrs_align(), ahrs_init(), propagate_ref(), reset_state(), and set_body_state_from_quat().

struct FloatRMat AhrsMlkf::ltp_to_imu_rmat

Rotation from LocalTangentPlane to IMU frame as Rotation Matrix.

Definition at line 41 of file ahrs_float_mlkf.h.

Referenced by ahrs_align(), ahrs_init(), propagate_ref(), reset_state(), and update_state().

float AhrsMlkf::P[6][6]

Definition at line 56 of file ahrs_float_mlkf.h.

Referenced by ahrs_init(), propagate_state(), and update_state().


The documentation for this struct was generated from the following file: