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vf_float.c File Reference

Vertical filter (in float) estimating altitude, velocity and accel bias. More...

#include "subsystems/ins/vf_float.h"
#include "generated/airframe.h"
#include "std.h"
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Macros

#define INS_PROPAGATE_FREQUENCY   PERIODIC_FREQUENCY
 
#define DT_VFILTER   (1./(INS_PROPAGATE_FREQUENCY))
 
#define VF_FLOAT_INIT_PXX   1.0
 
#define VF_FLOAT_ACCEL_NOISE   0.5
 
#define VF_FLOAT_MEAS_NOISE   1.0
 
#define Qzz   VF_FLOAT_ACCEL_NOISE * DT_VFILTER * DT_VFILTER / 2.
 
#define Qzdotzdot   VF_FLOAT_ACCEL_NOISE * DT_VFILTER
 
#define Qbiasbias   1e-7
 

Functions

void vff_init_zero (void)
 
void vff_init (float init_z, float init_zdot, float init_bias)
 
void vff_propagate (float accel)
 
static void update_z_conf (float z_meas, float conf)
 
void vff_update (float z_meas)
 
void vff_update_z_conf (float z_meas, float conf)
 
static void update_vz_conf (float vz, float conf)
 
void vff_update_vz_conf (float vz_meas, float conf)
 
void vff_realign (float z_meas)
 

Variables

struct Vff vff
 

Detailed Description

Vertical filter (in float) estimating altitude, velocity and accel bias.

Definition in file vf_float.c.

Macro Definition Documentation

#define DT_VFILTER   (1./(INS_PROPAGATE_FREQUENCY))

Definition at line 42 of file vf_float.c.

Referenced by vff_propagate().

#define INS_PROPAGATE_FREQUENCY   PERIODIC_FREQUENCY

Definition at line 37 of file vf_float.c.

#define Qbiasbias   1e-7

Definition at line 71 of file vf_float.c.

Referenced by vff_propagate().

#define Qzdotzdot   VF_FLOAT_ACCEL_NOISE * DT_VFILTER

Definition at line 70 of file vf_float.c.

Referenced by vff_propagate().

#define Qzz   VF_FLOAT_ACCEL_NOISE * DT_VFILTER * DT_VFILTER / 2.

Definition at line 69 of file vf_float.c.

Referenced by vff_propagate().

#define VF_FLOAT_ACCEL_NOISE   0.5

Definition at line 60 of file vf_float.c.

#define VF_FLOAT_INIT_PXX   1.0

Definition at line 55 of file vf_float.c.

Referenced by vff_init().

#define VF_FLOAT_MEAS_NOISE   1.0

Definition at line 65 of file vf_float.c.

Referenced by vff_update().

Function Documentation

static void update_vz_conf ( float  vz,
float  conf 
)
inlinestatic

Definition at line 221 of file vf_float.c.

References Vff::bias, Vff::P, vff, Vff::z, and Vff::zdot.

Referenced by vff_update_vz_conf().

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static void update_z_conf ( float  z_meas,
float  conf 
)
inlinestatic

Definition at line 164 of file vf_float.c.

References Vff::bias, Vff::P, vff, Vff::z, Vff::z_meas, and Vff::zdot.

Referenced by vff_update(), and vff_update_z_conf().

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void vff_init ( float  init_z,
float  init_zdot,
float  init_bias 
)

Definition at line 89 of file vf_float.c.

References Vff::bias, Vff::P, register_periodic_telemetry(), VF_FLOAT_INIT_PXX, vff, VFF_STATE_SIZE, Vff::z, and Vff::zdot.

Referenced by vff_init_zero().

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void vff_init_zero ( void  )

Definition at line 85 of file vf_float.c.

References vff_init().

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void vff_realign ( float  z_meas)

Definition at line 258 of file vf_float.c.

References vff, vff_init(), Vff::z, Vff::z_meas, and Vff::zdot.

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void vff_update ( float  z_meas)

Definition at line 199 of file vf_float.c.

References update_z_conf(), and VF_FLOAT_MEAS_NOISE.

Referenced by baro_cb().

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void vff_update_vz_conf ( float  vz_meas,
float  conf 
)

Definition at line 254 of file vf_float.c.

References update_vz_conf().

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void vff_update_z_conf ( float  z_meas,
float  conf 
)

Definition at line 203 of file vf_float.c.

References update_alt_conf(), and update_z_conf().

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Variable Documentation

struct Vff vff

Definition at line 73 of file vf_float.c.

Referenced by update_vz_conf(), update_z_conf(), vff_init(), vff_propagate(), and vff_realign().