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inv_gains Struct Reference

Invariant filter tuning gains. More...

#include <ins_float_invariant.h>

Data Fields

float lv
 Tuning parameter of speed error on attitude. More...
 
float lb
 Tuning parameter of mag error on attitude. More...
 
float mv
 Tuning parameter of horizontal speed error on speed. More...
 
float mvz
 Tuning parameter of vertical speed error on speed. More...
 
float mh
 Tuning parameter of baro error on vertical speed. More...
 
float nx
 Tuning parameter of horizontal position error on position. More...
 
float nxz
 Tuning parameter of vertical position error on position. More...
 
float nh
 Tuning parameter of baro error on vertical position. More...
 
float ov
 Tuning parameter of speed error on gyro biases. More...
 
float ob
 Tuning parameter of mag error on gyro biases. More...
 
float rv
 Tuning parameter of speed error on accel biases. More...
 
float rh
 Tuning parameter of baro error on accel biases (vertical projection) More...
 
float sh
 Tuning parameter of baro error on baro bias. More...
 

Detailed Description

Invariant filter tuning gains.

Definition at line 86 of file ins_float_invariant.h.

Field Documentation

float inv_gains::lb

Tuning parameter of mag error on attitude.

Definition at line 88 of file ins_float_invariant.h.

Referenced by error_output(), and ins_init().

float inv_gains::lv

Tuning parameter of speed error on attitude.

Definition at line 87 of file ins_float_invariant.h.

Referenced by error_output(), and ins_init().

float inv_gains::mh

Tuning parameter of baro error on vertical speed.

Definition at line 91 of file ins_float_invariant.h.

Referenced by error_output(), and ins_init().

float inv_gains::mv

Tuning parameter of horizontal speed error on speed.

Definition at line 89 of file ins_float_invariant.h.

Referenced by error_output(), and ins_init().

float inv_gains::mvz

Tuning parameter of vertical speed error on speed.

Definition at line 90 of file ins_float_invariant.h.

Referenced by error_output(), and ins_init().

float inv_gains::nh

Tuning parameter of baro error on vertical position.

Definition at line 94 of file ins_float_invariant.h.

Referenced by error_output(), and ins_init().

float inv_gains::nx

Tuning parameter of horizontal position error on position.

Definition at line 92 of file ins_float_invariant.h.

Referenced by error_output(), and ins_init().

float inv_gains::nxz

Tuning parameter of vertical position error on position.

Definition at line 93 of file ins_float_invariant.h.

Referenced by error_output(), and ins_init().

float inv_gains::ob

Tuning parameter of mag error on gyro biases.

Definition at line 96 of file ins_float_invariant.h.

Referenced by error_output(), and ins_init().

float inv_gains::ov

Tuning parameter of speed error on gyro biases.

Definition at line 95 of file ins_float_invariant.h.

Referenced by error_output(), and ins_init().

float inv_gains::rh

Tuning parameter of baro error on accel biases (vertical projection)

Definition at line 98 of file ins_float_invariant.h.

Referenced by error_output(), and ins_init().

float inv_gains::rv

Tuning parameter of speed error on accel biases.

Definition at line 97 of file ins_float_invariant.h.

Referenced by error_output(), and ins_init().

float inv_gains::sh

Tuning parameter of baro error on baro bias.

Definition at line 99 of file ins_float_invariant.h.

Referenced by error_output(), and ins_init().


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