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AhrsFloatCmpl Struct Reference

#include <ahrs_float_cmpl.h>

+ Collaboration diagram for AhrsFloatCmpl:

Data Fields

struct FloatRates gyro_bias
 
struct FloatRates rate_correction
 
struct FloatRates imu_rate
 
struct FloatQuat ltp_to_imu_quat
 
struct FloatRMat ltp_to_imu_rmat
 
bool_t correct_gravity
 enable gravity correction during coordinated turns More...
 
float ltp_vel_norm
 velocity norm for gravity correction during coordinated turns More...
 
bool_t ltp_vel_norm_valid
 
float accel_omega
 filter cut-off frequency for correcting the attitude from accels (pseudo-gravity measurement) More...
 
float accel_zeta
 filter damping for correcting the gyro-bias from accels (pseudo-gravity measurement) More...
 
float mag_omega
 filter cut-off frequency for correcting the attitude (heading) from magnetometer More...
 
float mag_zeta
 filter damping for correcting the gyro bias from magnetometer More...
 
uint8_t gravity_heuristic_factor
 sets how strongly the gravity heuristic reduces accel correction. More...
 
float weight
 
bool_t heading_aligned
 
struct FloatVect3 mag_h
 

Detailed Description

Definition at line 35 of file ahrs_float_cmpl.h.

Field Documentation

float AhrsFloatCmpl::accel_omega

filter cut-off frequency for correcting the attitude from accels (pseudo-gravity measurement)

Definition at line 46 of file ahrs_float_cmpl.h.

Referenced by ahrs_init(), and ahrs_update_accel().

float AhrsFloatCmpl::accel_zeta

filter damping for correcting the gyro-bias from accels (pseudo-gravity measurement)

Definition at line 47 of file ahrs_float_cmpl.h.

Referenced by ahrs_init(), and ahrs_update_accel().

bool_t AhrsFloatCmpl::correct_gravity

enable gravity correction during coordinated turns

Definition at line 42 of file ahrs_float_cmpl.h.

Referenced by ahrs_init(), and ahrs_update_accel().

uint8_t AhrsFloatCmpl::gravity_heuristic_factor

sets how strongly the gravity heuristic reduces accel correction.

Set to zero in order to disable gravity heuristic.

Definition at line 54 of file ahrs_float_cmpl.h.

Referenced by ahrs_init(), and ahrs_update_accel().

bool_t AhrsFloatCmpl::heading_aligned

Definition at line 57 of file ahrs_float_cmpl.h.

Referenced by ahrs_align(), ahrs_init(), ahrs_realign_heading(), and ahrs_update_gps().

struct FloatRates AhrsFloatCmpl::imu_rate

Definition at line 38 of file ahrs_float_cmpl.h.

Referenced by ahrs_init(), ahrs_propagate(), and compute_body_orientation_and_rates().

struct FloatQuat AhrsFloatCmpl::ltp_to_imu_quat
float AhrsFloatCmpl::ltp_vel_norm

velocity norm for gravity correction during coordinated turns

Definition at line 43 of file ahrs_float_cmpl.h.

Referenced by ahrs_update_accel(), and ahrs_update_gps().

bool_t AhrsFloatCmpl::ltp_vel_norm_valid

Definition at line 44 of file ahrs_float_cmpl.h.

Referenced by ahrs_init(), ahrs_update_accel(), and ahrs_update_gps().

struct FloatVect3 AhrsFloatCmpl::mag_h

Definition at line 58 of file ahrs_float_cmpl.h.

Referenced by ahrs_init(), ahrs_update_mag_2d(), and ahrs_update_mag_full().

float AhrsFloatCmpl::mag_omega

filter cut-off frequency for correcting the attitude (heading) from magnetometer

Definition at line 48 of file ahrs_float_cmpl.h.

Referenced by ahrs_init(), ahrs_update_mag_2d(), and ahrs_update_mag_full().

float AhrsFloatCmpl::mag_zeta

filter damping for correcting the gyro bias from magnetometer

Definition at line 49 of file ahrs_float_cmpl.h.

Referenced by ahrs_init(), ahrs_update_mag_2d(), and ahrs_update_mag_full().

float AhrsFloatCmpl::weight

Definition at line 55 of file ahrs_float_cmpl.h.

Referenced by ahrs_update_accel().


The documentation for this struct was generated from the following file: