Paparazzi UAS  v5.18.0_stable
Paparazzi is a free software Unmanned Aircraft System.
wind_estimator.h
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1 /*
2  * Copyright (C) 2016 Johan Maurin, Gautier Hattenberger
3  *
4  * This file is part of paparazzi.
5  *
6  * paparazzi is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License as published by
8  * the Free Software Foundation; either version 2, or (at your option)
9  * any later version.
10  *
11  * paparazzi is distributed in the hope that it will be useful,
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13  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14  * GNU General Public License for more details.
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16  * You should have received a copy of the GNU General Public License
17  * along with paparazzi; see the file COPYING. If not, see
18  * <http://www.gnu.org/licenses/>.
19  */
20 
29 #ifndef WIND_ESTIMATOR_H
30 #define WIND_ESTIMATOR_H
31 
32 #include "std.h"
34 
35 struct WindEstimator {
37  struct FloatVect3 wind;
39  bool reset;
40 
41  // filter parameters
42  float r_gs;
43  float r_va;
44  float r_aoa;
45  float r_ssa;
46  float q_va;
47  float q_wind;
48  float q_va_scale;
49 };
50 
51 extern struct WindEstimator wind_estimator;
52 
53 extern void wind_estimator_init(void);
54 extern void wind_estimator_periodic(void);
55 extern void wind_estimator_event(void);
56 
57 // paramenters settings handler
58 extern void wind_estimator_Set_R_GS(float _v);
59 extern void wind_estimator_Set_R_VA(float _v);
60 extern void wind_estimator_Set_R_AOA(float _v);
61 extern void wind_estimator_Set_R_SSA(float _v);
62 extern void wind_estimator_Set_Q_VA(float _v);
63 extern void wind_estimator_Set_Q_WIND(float _v);
64 extern void wind_estimator_Set_Q_VA_SCALE(float _v);
65 
66 #endif
67 
wind_estimator_event
void wind_estimator_event(void)
Definition: wind_estimator.c:412
WindEstimator::q_va_scale
float q_va_scale
noise associated to airspeed scale factor model
Definition: wind_estimator.h:48
wind_estimator_Set_R_AOA
void wind_estimator_Set_R_AOA(float _v)
Definition: wind_estimator.c:517
WindEstimator
Definition: wind_estimator.h:35
WindEstimator::airspeed
struct FloatVect3 airspeed
airspeed vector in body frame
Definition: wind_estimator.h:36
WindEstimator::r_aoa
float r_aoa
noise associated to angle of attack measurement
Definition: wind_estimator.h:44
pprz_algebra_float.h
Paparazzi floating point algebra.
WindEstimator::q_va
float q_va
noise associated to airspeed vector model
Definition: wind_estimator.h:46
FloatVect3
Definition: pprz_algebra_float.h:54
std.h
WindEstimator::wind
struct FloatVect3 wind
wind vector in NED frame
Definition: wind_estimator.h:37
WindEstimator::r_gs
float r_gs
noise associated to ground speed measurement
Definition: wind_estimator.h:42
wind_estimator_init
void wind_estimator_init(void)
Definition: wind_estimator.c:465
WindEstimator::data_available
bool data_available
new data available
Definition: wind_estimator.h:38
wind_estimator_Set_Q_VA
void wind_estimator_Set_Q_VA(float _v)
Definition: wind_estimator.c:529
WindEstimator::q_wind
float q_wind
noise associated to wind vector model
Definition: wind_estimator.h:47
wind_estimator_Set_Q_VA_SCALE
void wind_estimator_Set_Q_VA_SCALE(float _v)
Definition: wind_estimator.c:545
wind_estimator_periodic
void wind_estimator_periodic(void)
Definition: wind_estimator.c:292
WindEstimator::reset
bool reset
reset filter flag
Definition: wind_estimator.h:39
WindEstimator::r_ssa
float r_ssa
noise associated to sideslip angle measurement
Definition: wind_estimator.h:45
wind_estimator_Set_R_SSA
void wind_estimator_Set_R_SSA(float _v)
Definition: wind_estimator.c:523
wind_estimator_Set_R_GS
void wind_estimator_Set_R_GS(float _v)
Definition: wind_estimator.c:503
wind_estimator
struct WindEstimator wind_estimator
Definition: wind_estimator.c:125
WindEstimator::r_va
float r_va
noise associated to airspeed norm measurement
Definition: wind_estimator.h:43
wind_estimator_Set_R_VA
void wind_estimator_Set_R_VA(float _v)
Definition: wind_estimator.c:511
wind_estimator_Set_Q_WIND
void wind_estimator_Set_Q_WIND(float _v)
Definition: wind_estimator.c:537