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Paparazzi is a free software Unmanned Aircraft System.
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ins_float_invariant.h File Reference
#include "subsystems/ahrs.h"
#include "subsystems/ins.h"
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Go to the source code of this file.

Data Structures

struct  inv_state
 Invariant filter state. More...
 
struct  inv_measures
 Invariant filter measurement vector. More...
 
struct  inv_command
 Invariant filter command vector. More...
 
struct  inv_correction_gains
 Invariant filter correction gains. More...
 
struct  inv_gains
 Invariant filter tuning gains. More...
 
struct  InsFloatInv
 Invariant filter structure. More...
 

Macros

#define INV_STATE_DIM   15
 Invariant filter state dimension. More...
 
#define INV_MEASURE_DIM   10
 Invariant filter measurement vector dimension. More...
 
#define INV_COMMAND_DIM   6
 Invariant filter command vector dimension. More...
 

Variables

struct InsFloatInv ins_impl
 
float ins_roll_neutral
 
float ins_pitch_neutral
 

Macro Definition Documentation

#define INV_COMMAND_DIM   6

Invariant filter command vector dimension.

Definition at line 64 of file ins_float_invariant.h.

Referenced by ahrs_propagate().

#define INV_MEASURE_DIM   10

Invariant filter measurement vector dimension.

Definition at line 51 of file ins_float_invariant.h.

#define INV_STATE_DIM   15

Invariant filter state dimension.

Definition at line 35 of file ins_float_invariant.h.

Referenced by ahrs_propagate().

Variable Documentation

struct InsFloatInv ins_impl

Definition at line 51 of file ins_alt_float.c.

float ins_roll_neutral