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vf_extended_float.h File Reference

Interface for extended vertical filter (in float). More...

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Macros

#define VFF_STATE_SIZE   4
 

Functions

void vff_init (float z, float zdot, float accel_bias, float baro_offset)
 
void vff_propagate (float accel)
 
void vff_update_baro (float z_meas)
 
void vff_update_alt (float z_meas)
 
void vff_update_offset (float offset)
 
void vff_update_baro_conf (float z_meas, float conf)
 
void vff_update_alt_conf (float z_meas, float conf)
 
void vff_realign (float z_meas)
 

Variables

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

Detailed Description

Interface for extended vertical filter (in float).

Definition in file vf_extended_float.h.

Macro Definition Documentation

#define VFF_STATE_SIZE   4

Definition at line 33 of file vf_extended_float.h.

Referenced by vff_init().

Function Documentation

void vff_init ( float  z,
float  zdot,
float  accel_bias,
float  baro_offset 
)

Definition at line 74 of file vf_extended_float.c.

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

Referenced by ins_init(), and vff_realign().

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void vff_propagate ( float  accel)

Definition at line 108 of file vf_extended_float.c.

void vff_realign ( float  z_meas)

Definition at line 318 of file vf_extended_float.c.

void vff_update_alt ( float  z_meas)

Definition at line 254 of file vf_extended_float.c.

References R_ALT, and update_alt_conf().

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void vff_update_alt_conf ( float  z_meas,
float  conf 
)

Definition at line 258 of file vf_extended_float.c.

References update_alt_conf().

Referenced by ins_update_sonar().

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void vff_update_baro ( float  z_meas)

Definition at line 194 of file vf_extended_float.c.

References R_BARO, and update_baro_conf().

Referenced by ins_update_baro().

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void vff_update_baro_conf ( float  z_meas,
float  conf 
)

Definition at line 198 of file vf_extended_float.c.

References update_baro_conf().

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void vff_update_offset ( float  offset)

Definition at line 313 of file vf_extended_float.c.

References R_OFFSET, and update_offset_conf().

Referenced by ins_update_sonar().

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Variable Documentation

float vff_bias

Definition at line 65 of file vf_extended_float.c.

Definition at line 69 of file vf_extended_float.c.

float vff_z

Definition at line 63 of file vf_extended_float.c.

float vff_z_meas

Definition at line 71 of file vf_extended_float.c.

float vff_z_meas_baro

Definition at line 72 of file vf_extended_float.c.

Referenced by update_baro_conf(), and vff_propagate().

float vff_zdot

Definition at line 64 of file vf_extended_float.c.

float vff_zdotdot

Definition at line 67 of file vf_extended_float.c.