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vf_float.h File Reference

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

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Macros

#define VFF_STATE_SIZE   3
 

Functions

void vff_init (float z, float zdot, float bias)
 
void vff_propagate (float accel)
 
void vff_update (float z_meas)
 
void vff_update_z_conf (float z_meas, float conf)
 
void vff_update_vz_conf (float vz_meas, float conf)
 
void vff_realign (float z_meas)
 

Variables

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

Detailed Description

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

Definition in file vf_float.h.

Macro Definition Documentation

#define VFF_STATE_SIZE   3

Definition at line 32 of file vf_float.h.

Function Documentation

void vff_init ( float  z,
float  zdot,
float  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)

Definition at line 108 of file vf_extended_float.c.

References DefaultChannel, DefaultDevice, Qbiasbias, Qoffoff, Qzdotzdot, Qzz, vff_bias, vff_offset, vff_P, vff_z, vff_z_meas, vff_z_meas_baro, vff_zdot, and vff_zdotdot.

Referenced by ins_propagate().

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void vff_realign ( float  z_meas)

Definition at line 318 of file vf_extended_float.c.

References vff_init(), vff_z, and vff_zdot.

Referenced by ins_realign_v(), and ins_update_baro().

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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_z_meas

Definition at line 71 of file vf_extended_float.c.

Referenced by update_alt_conf(), update_z_conf(), and vff_propagate().

float vff_zdotdot

Definition at line 67 of file vf_extended_float.c.

Referenced by ins_propagate(), ins_update_baro(), and vff_propagate().