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vf_float.h
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2  * Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
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21 
29 #ifndef VF_FLOAT_H
30 #define VF_FLOAT_H
31 
32 #define VFF_STATE_SIZE 3
33 
34 struct Vff {
35  float z;
36  float zdot;
37  float bias;
38  float zdotdot;
39  float z_meas;
41 };
42 
43 extern struct Vff vff;
44 
45 extern void vff_init_zero(void);
46 extern void vff_init(float z, float zdot, float bias);
47 extern void vff_propagate(float accel);
48 extern void vff_update(float z_meas);
49 extern void vff_update_z_conf(float z_meas, float conf);
50 extern void vff_update_vz_conf(float vz_meas, float conf);
51 extern void vff_realign(float z_meas);
52 
53 #endif /* VF_FLOAT_H */
#define VFF_STATE_SIZE
Definition: vf_float.h:32
void vff_update(float z_meas)
Definition: vf_float.c:199
Definition: vf_float.h:34
float zdotdot
z-acceleration in m/s^2 (NED, z-down)
Definition: vf_float.h:38
float bias
accel bias estimate in m/s^2
Definition: vf_float.h:37
float P[VFF_STATE_SIZE][VFF_STATE_SIZE]
covariance matrix
Definition: vf_float.h:40
float z_meas
last measurement
Definition: vf_float.h:39
void vff_init_zero(void)
void vff_update_vz_conf(float vz_meas, float conf)
Definition: vf_float.c:254
float z
z-position estimate in m (NED, z-down)
Definition: vf_float.h:35
struct Vff vff
void vff_realign(float z_meas)
float zdot
z-velocity estimate in m/s (NED, z-down)
Definition: vf_float.h:36
void vff_propagate(float accel)
void vff_init(float z, float zdot, float bias)
Definition: vf_float.c:89
void vff_update_z_conf(float z_meas, float conf)