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vf_extended_float.h
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1 /*
2  * Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
3  * Copyright (C) 2012 Gautier Hattenberger
4  *
5  * This file is part of paparazzi.
6  *
7  * paparazzi is free software; you can redistribute it and/or modify
8  * it under the terms of the GNU General Public License as published by
9  * the Free Software Foundation; either version 2, or (at your option)
10  * any later version.
11  *
12  * paparazzi is distributed in the hope that it will be useful,
13  * but WITHOUT ANY WARRANTY; without even the implied warranty of
14  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
15  * GNU General Public License for more details.
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19  * the Free Software Foundation, 59 Temple Place - Suite 330,
20  * Boston, MA 02111-1307, USA.
21  */
22 
30 #ifndef VF_EXTENDED_FLOAT_H
31 #define VF_EXTENDED_FLOAT_H
32 
33 #define VFF_STATE_SIZE 4
34 
35 extern float vff_z;
36 extern float vff_zdot;
37 extern float vff_bias;
38 extern float vff_offset;
39 extern float vff_P[VFF_STATE_SIZE][VFF_STATE_SIZE];
40 extern float vff_zdotdot;
41 
42 extern float vff_z_meas;
43 extern float vff_z_meas_baro;
44 
45 extern void vff_init(float z, float zdot, float accel_bias, float baro_offset);
46 extern void vff_propagate(float accel);
47 extern void vff_update_baro(float z_meas);
48 extern void vff_update_alt(float z_meas);
49 extern void vff_update_offset(float offset);
50 extern void vff_update_baro_conf(float z_meas, float conf);
51 extern void vff_update_alt_conf(float z_meas, float conf);
52 //extern void vff_update_vz_conf(float vz_meas, float conf);
53 extern void vff_realign(float z_meas);
54 
55 #endif /* VF_EXTENDED_FLOAT_H */
void vff_realign(float z_meas)
void vff_update_offset(float offset)
float vff_P[VFF_STATE_SIZE][VFF_STATE_SIZE]
float vff_z_meas
float vff_offset
void vff_init(float z, float zdot, float accel_bias, float baro_offset)
float vff_zdot
#define VFF_STATE_SIZE
void vff_update_baro(float z_meas)
float vff_bias
void vff_propagate(float accel)
void vff_update_baro_conf(float z_meas, float conf)
float vff_zdotdot
void vff_update_alt_conf(float z_meas, float conf)
void vff_update_alt(float z_meas)
float vff_z
float vff_z_meas_baro