Paparazzi UAS  v5.0.5_stable-7-g4b8bbb7
Paparazzi is a free software Unmanned Aircraft System.
 All Data Structures Files Functions Variables Typedefs Enumerations Enumerator Macros Modules Pages
vf_int.h File Reference

Vertical filter (fixed-point) estimating altitude, velocity and accel bias. More...

#include "std.h"
#include "booz_geometry_int.h"
+ Include dependency graph for vf_int.h:
+ This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Macros

#define VFI_Z_MEAS_FRAC   IPOS_FRAC
 
#define VFI_F_UPDATE_FRAC   9
 
#define VFI_F_UPDATE   (1<<VFI_F_UPDATE_RES)
 
#define VFI_ZDD_FRAC   IACCEL_RES
 
#define VFI_BIAS_FRAC   IACCEL_RES
 
#define VFI_ZD_FRAC   (VFI_ZDD_FRAC + VFI_F_UPDATE_FRAC)
 
#define VFI_Z_FRAC   (VFI_ZD_FRAC + VFI_F_UPDATE_FRAC)
 
#define VFI_S_Z   0
 
#define VFI_S_ZD   1
 
#define VFI_S_AB   2
 
#define VFI_S_SIZE   3
 
#define VFI_P_FRAC   28
 

Functions

void vfi_init (int32_t z0, int32_t zd0, int32_t bias0)
 
void vfi_propagate (int32_t accel_reading)
 
void vfi_update (int32_t z_meas)
 

Variables

int32_t vfi_zdd
 
int32_t vfi_abias
 
int32_t vfi_zd
 
int64_t vfi_z
 
int32_t vfi_P [VFI_S_SIZE][VFI_S_SIZE]
 

Detailed Description

Vertical filter (fixed-point) estimating altitude, velocity and accel bias.

Definition in file vf_int.h.

Macro Definition Documentation

#define VFI_BIAS_FRAC   IACCEL_RES

Definition at line 55 of file vf_int.h.

#define VFI_F_UPDATE   (1<<VFI_F_UPDATE_RES)

Definition at line 45 of file vf_int.h.

#define VFI_F_UPDATE_FRAC   9

Definition at line 44 of file vf_int.h.

Referenced by vfi_propagate().

#define VFI_P_FRAC   28

Definition at line 75 of file vf_int.h.

Referenced by vfi_update().

#define VFI_S_AB   2

Definition at line 70 of file vf_int.h.

Referenced by vfi_init().

#define VFI_S_SIZE   3

Definition at line 71 of file vf_int.h.

Referenced by vfi_init().

#define VFI_S_Z   0

Definition at line 68 of file vf_int.h.

Referenced by vfi_init().

#define VFI_S_ZD   1

Definition at line 69 of file vf_int.h.

Referenced by vfi_init().

#define VFI_Z_FRAC   (VFI_ZD_FRAC + VFI_F_UPDATE_FRAC)

Definition at line 65 of file vf_int.h.

Referenced by vfi_propagate(), and vfi_update().

#define VFI_Z_MEAS_FRAC   IPOS_FRAC

Definition at line 41 of file vf_int.h.

#define VFI_ZD_FRAC   (VFI_ZDD_FRAC + VFI_F_UPDATE_FRAC)

Definition at line 60 of file vf_int.h.

Referenced by vfi_propagate().

#define VFI_ZDD_FRAC   IACCEL_RES

Definition at line 50 of file vf_int.h.

Referenced by vfi_propagate().

Function Documentation

void vfi_init ( int32_t  z0,
int32_t  zd0,
int32_t  bias0 
)
void vfi_propagate ( int32_t  accel_reading)
void vfi_update ( int32_t  z_meas)

Definition at line 128 of file vf_int.c.

References vfi_abias, vfi_P, VFI_P_FRAC, VFI_R, vfi_z, VFI_Z_FRAC, vfi_zd, and FloatVect2::y.

Variable Documentation

int32_t vfi_abias

Definition at line 35 of file vf_int.c.

Referenced by vfi_init(), vfi_propagate(), and vfi_update().

Definition at line 37 of file vf_int.c.

Referenced by vfi_init(), vfi_propagate(), and vfi_update().

int64_t vfi_z

Definition at line 33 of file vf_int.c.

Referenced by vfi_init(), vfi_propagate(), and vfi_update().

int32_t vfi_zd

Definition at line 34 of file vf_int.c.

Referenced by vfi_init(), vfi_propagate(), and vfi_update().

int32_t vfi_zdd

Definition at line 36 of file vf_int.c.

Referenced by vfi_init(), and vfi_propagate().