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vf_float.h File Reference

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

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Data Structures

struct  Vff
 

Macros

#define VFF_STATE_SIZE   3
 

Functions

void vff_init_zero (void)
 
void vff_init (float z, float zdot, float bias)
 
void vff_propagate (float accel)
 
void vff_update (float z_meas)
 
void vff_update_z_conf (float z_meas, 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.h.

Macro Definition Documentation

#define VFF_STATE_SIZE   3

Definition at line 32 of file vf_float.h.

Function Documentation

void vff_init ( float  z,
float  zdot,
float  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 94 of file vf_extended_float.c.

References vff_init().

Referenced by ins_init().

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void vff_propagate ( float  accel)

Definition at line 135 of file vf_extended_float.c.

References Vff::bias, VffExtended::bias, DT_VFILTER, Vff::P, VffExtended::P, Qbiasbias, Qoffoff, Qzdotzdot, Qzz, vff, Vff::z, VffExtended::z, Vff::zdot, VffExtended::zdot, Vff::zdotdot, and VffExtended::zdotdot.

Referenced by ins_propagate().

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void vff_realign ( float  z_meas)

Definition at line 345 of file vf_extended_float.c.

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

Referenced by baro_cb().

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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 285 of file vf_extended_float.c.

References update_alt_conf(), and update_z_conf().

Referenced by ins_update_gps().

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Variable Documentation