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vf_float.c File Reference

Vertical filter (in float) estimating altitude, velocity and accel bias. More...

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Macros

#define VF_FLOAT_INIT_PXX   1.0
 
#define VF_FLOAT_ACCEL_NOISE   0.5
 
#define VF_FLOAT_MEAS_NOISE   1.0
 
#define Qzz   VF_FLOAT_ACCEL_NOISE * DT_VFILTER * DT_VFILTER / 2.
 
#define Qzdotzdot   VF_FLOAT_ACCEL_NOISE * DT_VFILTER
 
#define Qbiasbias   1e-7
 

Functions

void vff_init (float init_z, float init_zdot, float init_bias)
 
void vff_propagate (float accel)
 
static void update_z_conf (float z_meas, float conf)
 
void vff_update (float z_meas)
 
void vff_update_z_conf (float z_meas, float conf)
 
static void update_vz_conf (float vz, float conf)
 
void vff_update_vz_conf (float vz_meas, float conf)
 
void vff_realign (float z_meas)
 

Variables

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

Detailed Description

Vertical filter (in float) estimating altitude, velocity and accel bias.

Definition in file vf_float.c.

Macro Definition Documentation

#define Qbiasbias   1e-7

Definition at line 58 of file vf_float.c.

Referenced by vff_propagate().

#define Qzdotzdot   VF_FLOAT_ACCEL_NOISE * DT_VFILTER

Definition at line 57 of file vf_float.c.

Referenced by vff_propagate().

#define Qzz   VF_FLOAT_ACCEL_NOISE * DT_VFILTER * DT_VFILTER / 2.

Definition at line 56 of file vf_float.c.

Referenced by vff_propagate().

#define VF_FLOAT_ACCEL_NOISE   0.5

Definition at line 47 of file vf_float.c.

#define VF_FLOAT_INIT_PXX   1.0

Definition at line 42 of file vf_float.c.

Referenced by vff_init().

#define VF_FLOAT_MEAS_NOISE   1.0

Definition at line 52 of file vf_float.c.

Referenced by vff_update().

Function Documentation

static void update_vz_conf ( float  vz,
float  conf 
)
inlinestatic

Definition at line 198 of file vf_float.c.

References vff_bias, vff_P, vff_z, and vff_zdot.

Referenced by vff_update_vz_conf().

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static void update_z_conf ( float  z_meas,
float  conf 
)
inlinestatic

Definition at line 141 of file vf_float.c.

References vff_bias, vff_P, vff_z, vff_z_meas, vff_zdot, and FloatVect2::y.

Referenced by vff_update(), and vff_update_z_conf().

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void vff_init ( float  init_z,
float  init_zdot,
float  init_bias 
)

Definition at line 69 of file vf_float.c.

References VF_FLOAT_INIT_PXX, vff_bias, vff_P, VFF_STATE_SIZE, vff_z, and vff_zdot.

void vff_propagate ( float  accel)
void vff_realign ( float  z_meas)

Definition at line 235 of file vf_float.c.

References vff_init(), vff_z, and vff_zdot.

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void vff_update ( float  z_meas)

Definition at line 176 of file vf_float.c.

References update_z_conf(), and VF_FLOAT_MEAS_NOISE.

Referenced by ins_update_baro().

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void vff_update_vz_conf ( float  vz_meas,
float  conf 
)

Definition at line 231 of file vf_float.c.

References update_vz_conf().

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void vff_update_z_conf ( float  z_meas,
float  conf 
)

Definition at line 180 of file vf_float.c.

References update_z_conf().

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Variable Documentation

float vff_bias

Definition at line 61 of file vf_float.c.

Referenced by update_vz_conf(), update_z_conf(), vff_init(), and vff_propagate().

Definition at line 65 of file vf_float.c.

Referenced by update_vz_conf(), update_z_conf(), vff_init(), and vff_propagate().

float vff_z

Definition at line 60 of file vf_float.c.

Referenced by update_vz_conf(), update_z_conf(), vff_init(), vff_propagate(), and vff_realign().

float vff_z_meas

Definition at line 67 of file vf_float.c.

Referenced by update_z_conf().

float vff_zdot

Definition at line 62 of file vf_float.c.

Referenced by update_vz_conf(), update_z_conf(), vff_init(), vff_propagate(), and vff_realign().

float vff_zdotdot

Definition at line 63 of file vf_float.c.

Referenced by vff_propagate().