State interface

This general state interface holds all the most important vehicle states like position, velocity, attitude, etc. More...

Collaboration diagram for State interface:

Modules
	Position representations
	Speed representations
	Acceleration representations
	Angular rate representations
	Wind- and airspeed representations
	Input filter specific flags and input types
	Attitude representations

Data Structures
struct	State
	Structure holding vehicle state data. More...
union	State.windspeed_i
	Horizontal windspeed in north/east/down. More...
union	State.windspeed_f
	Horizontal windspeed. More...

Macros
#define	STATE_CHECK_INPUT_AND_RETURN(flag, id)   if (flag==STATE_INPUT_DISABLE || !(flag==STATE_INPUT_ANY || flag==id)) { return; }
	Helper macro to check input filter and return if not valid input id. More...

Functions
void	stateInit (void)
void	stateSetInputFilter (uint8_t type, uint16_t id)
	set the input filter for a specified type of data. More...

Variables
struct State	state

Detailed Description

This general state interface holds all the most important vehicle states like position, velocity, attitude, etc.

It handles coordinate system and fixed-/floating-point conversion on the fly when needed.

IMPORTANT: Don't access the members of the state struct directly, use the stateSet* and stateGet* functions!

You can set e.g. the position in any coordinate system you wish: stateSetPositionNed_i() to set the position in fixed-point NED coordinates. If you need to read the position somewhere else in a different representation, call: stateGetPositionLla_f() and only then the LLA float position representation is calculated on the fly and returned. It's also only calculated once, until a new position is set which invalidates all the other representations again.

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Data Structure Documentation

State

struct State

Structure holding vehicle state data.

Definition at line 152 of file state.h.

Collaboration diagram for State:

Data Fields
uint16_t	accel_input_filter	Holds the input filter id for acceleration.
uint8_t	accel_status	Holds the status bits for all acceleration representations. When the corresponding bit is one the representation is already computed.
float	airspeed_f	Norm of relative air speed. Unit: m/s
int32_t	airspeed_i	Norm of relative wind speed. Unit: m/s in BFP with INT32_SPEED_FRAC
float	alt_agl_f	Altitude above ground level. Unit: meters
float	angle_of_attack_f	Angle of attack Unit: rad.
uint16_t	attitude_input_filter	Holds the input filter id for attitude.
struct Int32Vect3	body_accel_i	Acceleration in Body coordinates. Units: m/s^2 in BFP with INT32_ACCEL_FRAC
struct FloatRates	body_rates_f	Angular rates in body frame. Units: rad/s
struct Int32Rates	body_rates_i	Angular rates in body frame. Units: rad/s in BFP with INT32_RATE_FRAC
struct EcefCoor_f	ecef_accel_f	Acceleration in EarthCenteredEarthFixed coordinates. Units: m/s^2
struct EcefCoor_i	ecef_accel_i	Acceleration in EarthCenteredEarthFixed coordinates. Units: m/s^2 in BFP with INT32_ACCEL_FRAC
struct EcefCoor_f	ecef_pos_f	Position in EarthCenteredEarthFixed coordinates. Units: meters
struct EcefCoor_i	ecef_pos_i	Position in EarthCenteredEarthFixed coordinates. Units: centimeters
struct EcefCoor_f	ecef_speed_f	Velocity in EarthCenteredEarthFixed coordinates. Units: m/s
struct EcefCoor_i	ecef_speed_i	Velocity in EarthCenteredEarthFixed coordinates. Units: m/s in BFP with INT32_SPEED_FRAC
struct EnuCoor_f	enu_pos_f	Position in East North Up coordinates. with respect to ned_origin_i (flat earth) Units: meters
struct EnuCoor_i	enu_pos_i	Position in East North Up coordinates. with respect to ned_origin_i (flat earth) Units: m in BFP with INT32_POS_FRAC
struct EnuCoor_f	enu_speed_f	Velocity in East North Up coordinates. Units: m/s
struct EnuCoor_i	enu_speed_i	Velocity in East North Up coordinates. Units: m/s in BFP with INT32_SPEED_FRAC
float	h_speed_dir_f	Direction of horizontal ground speed. Unit: rad (clockwise, zero=north)
int32_t	h_speed_dir_i	Direction of horizontal ground speed. Unit: rad in BFP with INT32_ANGLE_FRAC (clockwise, zero=north)
float	h_speed_norm_f	Norm of horizontal ground speed. Unit: m/s
uint32_t	h_speed_norm_i	Norm of horizontal ground speed. Unit: m/s in BFP with INT32_SPEED_FRAC
struct LlaCoor_f	lla_pos_f	Position in Latitude, Longitude and Altitude. Units lat,lon: radians Units alt: meters above reference ellipsoid
struct LlaCoor_i	lla_pos_i	Position in Latitude, Longitude and Altitude. Units lat,lon: degrees*1e7 Units alt: milimeters above reference ellipsoid
struct NedCoor_f	ned_accel_f	Acceleration in North East Down coordinates. Units: m/s^2
struct NedCoor_i	ned_accel_i	Acceleration in North East Down coordinates. Units: m/s^2 in BFP with INT32_ACCEL_FRAC
bool	ned_initialized_f	True if local float coordinate frame is initialsed.
bool	ned_initialized_i	true if local int coordinate frame is initialsed
struct LtpDef_f	ned_origin_f	Definition of the local (flat earth) coordinate system. Defines the origin of the local NorthEastDown coordinate system in ECEF (EarthCenteredEarthFixed) and LLA (LatitudeLongitudeAlt) coordinates and the roation matrix from ECEF to local frame. (float version)
struct LtpDef_i	ned_origin_i	Definition of the local (flat earth) coordinate system. Defines the origin of the local NorthEastDown coordinate system in ECEF (EarthCenteredEarthFixed) and LLA (LatitudeLongitudeAlt) coordinates and the roation matrix from ECEF to local frame. (int version)
struct NedCoor_f	ned_pos_f	Position in North East Down coordinates. with respect to ned_origin_i (flat earth) Units: meters
struct NedCoor_i	ned_pos_i	Position in North East Down coordinates. with respect to ned_origin_i (flat earth) Units: m in BFP with INT32_POS_FRAC
struct NedCoor_f	ned_speed_f	speed in North East Down coordinates Units: m/s
struct NedCoor_i	ned_speed_i	Velocity in North East Down coordinates. Units: m/s in BFP with INT32_SPEED_FRAC
struct OrientationReps	ned_to_body_orientation
uint16_t	origin_input_filter	Holds the input filter id for state origin.
uint16_t	pos_input_filter	Holds the input filter id for position.
uint16_t	pos_status	Holds the status bits for all position representations. When the corresponding bit is set the representation is already computed.
uint8_t	rate_status	Holds the status bits for all angular rate representations. When the corresponding bit is one the representation is already computed.
uint16_t	rates_input_filter	Holds the input filter id for rates.
float	sideslip_f	Sideslip angle Unit: rad.
uint16_t	speed_input_filter	Holds the input filter id for speed.
uint16_t	speed_status	Holds the status bits for all ground speed representations. When the corresponding bit is one the representation is already computed.
bool	utm_initialized_f	True if utm origin (float) coordinate frame is initialsed.
struct UtmCoor_f	utm_origin_f	Definition of the origin of Utm coordinate system. Defines the origin of the local NorthEastDown coordinate system in UTM coordinates, used as a reference when ned_origin is not initialized. Altitude is height above MSL. (float version)
struct UtmCoor_f	utm_pos_f	Position in UTM coordinates. Units x,y: meters. Units z: meters above MSL
uint16_t	wind_air_input_filter	Holds the input filter id for air data.
uint8_t	wind_air_status	Holds the status bits for all wind- and airspeed representations. When the corresponding bit is one the representation is already computed.
union State	windspeed_f	Horizontal windspeed. Units: m/s with x=north, y=east, z=down
union State	windspeed_i	Horizontal windspeed in north/east/down. Units: m/s in BFP with INT32_SPEED_FRAC

State.windspeed_i

union State.windspeed_i

Horizontal windspeed in north/east/down.

Units: m/s in BFP with INT32_SPEED_FRAC

Definition at line 460 of file state.h.

Data Fields
struct Int32Vect2	vect2
struct Int32Vect3	vect3

State.windspeed_f

union State.windspeed_f

Horizontal windspeed.

Units: m/s with x=north, y=east, z=down

Definition at line 475 of file state.h.

Data Fields
struct FloatVect2	vect2
struct FloatVect3	vect3

Macro Definition Documentation

STATE_CHECK_INPUT_AND_RETURN

#define STATE_CHECK_INPUT_AND_RETURN	(		flag,
			id
	)		if (flag==STATE_INPUT_DISABLE || !(flag==STATE_INPUT_ANY || flag==id)) { return; }

Helper macro to check input filter and return if not valid input id.

Definition at line 513 of file state.h.

Function Documentation

stateInit()

void stateInit

(

void

)

Definition at line 57 of file state.c.

References State::accel_input_filter, State::accel_status, State::attitude_input_filter, State::ned_initialized_f, State::ned_initialized_i, State::ned_to_body_orientation, State::origin_input_filter, State::pos_input_filter, State::pos_status, preflight_check_register(), State::rate_status, State::rates_input_filter, State::speed_input_filter, State::speed_status, state, STATE_INPUT_ANY, OrientationReps::status, State::utm_initialized_f, State::utm_origin_f, State::wind_air_input_filter, State::wind_air_status, and UtmCoor_f::zone.

Referenced by main_init().

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stateSetInputFilter()

void stateSetInputFilter	(	uint8_t	type,
		uint16_t	id
	)

set the input filter for a specified type of data.

Parameters

[in]	type	type of data (origin, pos, speed, ...)
[in]	id	value of the filter, can be a module ID, or a specific code (disable or any value)

Definition at line 85 of file state.c.

Referenced by ahrs_float_cmp_quat_wrapper_enable(), ahrs_float_dcm_wrapper_enable(), ahrs_float_invariant_wrapper_enable(), ahrs_float_mlkf_wrapper_enable(), ahrs_int_cmpl_quat_wrapper_enable(), ahrs_madgwick_wrapper_enable(), and ahrs_vectornav_wrapper_enable().

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Variable Documentation

state

struct State state

extern

Definition at line 1 of file state.c.

Referenced by acInfoCalcPositionEnu_f(), acInfoCalcPositionEnu_i(), dc_send_command(), error_output(), follow_me_set_wp(), gazebo_read(), gps_cb(), gps_ubx_periodic_check(), handle_reply(), ins_float_invariant_update_gps(), mavlink_send_gps_global_origin(), mission_point_of_lla(), pressure_abs_cb(), px4flash_event(), rotwing_state_set(), send_ins_ref(), send_rotating_wing_state(), sim_overwrite_ins(), stateCalcAccelEcef_f(), stateCalcAccelEcef_i(), stateCalcAccelNed_f(), stateCalcAccelNed_i(), stateCalcAirspeed_f(), stateCalcAirspeed_i(), stateCalcBodyRates_f(), stateCalcBodyRates_i(), stateCalcHorizontalSpeedDir_f(), stateCalcHorizontalSpeedDir_i(), stateCalcHorizontalSpeedNorm_f(), stateCalcHorizontalSpeedNorm_i(), stateCalcHorizontalWindspeed_f(), stateCalcHorizontalWindspeed_i(), stateCalcPositionEcef_f(), stateCalcPositionEcef_i(), stateCalcPositionEnu_f(), stateCalcPositionEnu_i(), stateCalcPositionLla_f(), stateCalcPositionLla_i(), stateCalcPositionNed_f(), stateCalcPositionNed_i(), stateCalcPositionUtm_f(), stateCalcSpeedEcef_f(), stateCalcSpeedEcef_i(), stateCalcSpeedEnu_f(), stateCalcSpeedEnu_i(), stateCalcSpeedNed_f(), stateCalcSpeedNed_i(), stateCalcVerticalWindspeed_f(), stateCalcVerticalWindspeed_i(), stateGetAccelBody_i(), stateGetAccelEcef_f(), stateGetAccelEcef_i(), stateGetAccelNed_f(), stateGetAccelNed_i(), stateGetAirspeed_f(), stateGetAirspeed_i(), stateGetAngleOfAttack_f(), stateGetBodyRates_f(), stateGetBodyRates_i(), stateGetEcefOrigin_f(), stateGetHmslOrigin_f(), stateGetHmslOrigin_i(), stateGetHorizontalSpeedDir_f(), stateGetHorizontalSpeedDir_i(), stateGetHorizontalSpeedNorm_f(), stateGetHorizontalSpeedNorm_i(), stateGetHorizontalWindspeed_f(), stateGetHorizontalWindspeed_i(), stateGetNedOrigin_f(), stateGetNedOrigin_i(), stateGetNedToBodyEulers_f(), stateGetNedToBodyEulers_i(), stateGetNedToBodyQuat_f(), stateGetNedToBodyQuat_i(), stateGetNedToBodyRMat_f(), stateGetNedToBodyRMat_i(), stateGetPositionEcef_f(), stateGetPositionEcef_i(), stateGetPositionEnu_f(), stateGetPositionEnu_i(), stateGetPositionLla_f(), stateGetPositionLla_i(), stateGetPositionNed_f(), stateGetPositionNed_i(), stateGetPositionUtm_f(), stateGetSideslip_f(), stateGetSpeedEcef_f(), stateGetSpeedEcef_i(), stateGetSpeedEnu_f(), stateGetSpeedEnu_i(), stateGetSpeedNed_f(), stateGetSpeedNed_i(), stateGetUtmOrigin_f(), stateGetVerticalWindspeed_f(), stateGetVerticalWindspeed_i(), stateGetWindspeed_f(), stateGetWindspeed_i(), stateInit(), stateIsAccelValid(), stateIsAirspeedValid(), stateIsAngleOfAttackValid(), stateIsAttitudeValid(), stateIsGlobalCoordinateValid(), stateIsLocalCoordinateValid(), stateIsRateValid(), stateIsSideslipValid(), stateIsVerticalWindspeedValid(), stateIsWindspeedValid(), stateSetAccelBody_i(), stateSetAccelEcef_f(), stateSetAccelEcef_i(), stateSetAccelNed_f(), stateSetAccelNed_i(), stateSetAirspeed_f(), stateSetAirspeed_i(), stateSetAngleOfAttack_f(), stateSetBodyRates_f(), stateSetBodyRates_i(), stateSetHorizontalWindspeed_f(), stateSetHorizontalWindspeed_i(), stateSetLocalOrigin_i(), stateSetLocalUtmOrigin_f(), stateSetNedToBodyEulers_f(), stateSetNedToBodyEulers_i(), stateSetNedToBodyQuat_f(), stateSetNedToBodyQuat_i(), stateSetNedToBodyRMat_f(), stateSetNedToBodyRMat_i(), stateSetPosition_f(), stateSetPosition_i(), stateSetPositionEcef_f(), stateSetPositionEcef_i(), stateSetPositionEnu_f(), stateSetPositionEnu_i(), stateSetPositionLla_f(), stateSetPositionLla_i(), stateSetPositionNed_f(), stateSetPositionNed_i(), stateSetPositionUtm_f(), stateSetSideslip_f(), stateSetSpeed_f(), stateSetSpeed_i(), stateSetSpeedEcef_f(), stateSetSpeedEcef_i(), stateSetSpeedEnu_f(), stateSetSpeedEnu_i(), stateSetSpeedNed_f(), stateSetSpeedNed_i(), stateSetVerticalWindspeed_f(), stateSetVerticalWindspeed_i(), syslink_parse_char(), syslink_parse_init(), target_get_pos(), target_get_vel(), target_pos_set_current_offset(), VL53L1X_BootDevice(), VL53L1X_BootState(), waypoint_globalize(), and waypoint_localize().