Paparazzi UAS  v5.2.2_stable-0-gd6b9f29
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inv_state Struct Reference

Invariant filter state. More...

#include <ins_float_invariant.h>

+ Collaboration diagram for inv_state:

Data Fields

struct FloatQuat quat
 Estimated attitude (quaternion) More...
 
struct FloatRates bias
 Estimated gyro biases. More...
 
struct NedCoor_f speed
 Estimates speed. More...
 
struct NedCoor_f pos
 Estimates position. More...
 
float hb
 Estimates barometers bias. More...
 
float as
 Estimated accelerometer sensitivity. More...
 

Detailed Description

Invariant filter state.

Definition at line 39 of file ins_float_invariant.h.

Field Documentation

float inv_state::as

Estimated accelerometer sensitivity.

Definition at line 45 of file ins_float_invariant.h.

Referenced by ahrs_propagate(), error_output(), init_invariant_state(), and invariant_model().

struct FloatRates inv_state::bias

Estimated gyro biases.

Definition at line 41 of file ins_float_invariant.h.

Referenced by ahrs_align(), ahrs_propagate(), init_invariant_state(), and invariant_model().

float inv_state::hb

Estimates barometers bias.

Definition at line 44 of file ins_float_invariant.h.

Referenced by ahrs_propagate(), error_output(), init_invariant_state(), and invariant_model().

struct NedCoor_f inv_state::pos

Estimates position.

Definition at line 43 of file ins_float_invariant.h.

Referenced by ahrs_propagate(), error_output(), init_invariant_state(), and invariant_model().

struct FloatQuat inv_state::quat

Estimated attitude (quaternion)

Definition at line 40 of file ins_float_invariant.h.

Referenced by ahrs_align(), ahrs_propagate(), error_output(), init_invariant_state(), and invariant_model().

struct NedCoor_f inv_state::speed

Estimates speed.

Definition at line 42 of file ins_float_invariant.h.

Referenced by ahrs_propagate(), error_output(), init_invariant_state(), and invariant_model().


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