Collaboration diagram for Wind- and airspeed representations:

Macros
#define	WINDSPEED_I 0

#define	DOWNWIND_I 1

#define	AIRSPEED_I 2

#define	WINDSPEED_F 3

#define	DOWNWIND_F 4

#define	AIRSPEED_F 5

#define	AOA_F 6

#define	SIDESLIP_F 7

Functions
void	stateCalcHorizontalWindspeed_i (void)

void	stateCalcVerticalWindspeed_i (void)

void	stateCalcAirspeed_i (void)

void	stateCalcHorizontalWindspeed_f (void)

void	stateCalcVerticalWindspeed_f (void)

void	stateCalcAirspeed_f (void)

static bool	stateIsWindspeedValid (void)
	test if wind speed is available. More...

static bool	stateIsVerticalWindspeedValid (void)
	test if vertical wind speed is available. More...

static bool	stateIsAirspeedValid (void)
	test if air speed is available. More...

static bool	stateIsAngleOfAttackValid (void)
	test if angle of attack is available. More...

static bool	stateIsSideslipValid (void)
	test if sideslip is available. More...

static void	stateSetHorizontalWindspeed_i (uint16_t id, struct Int32Vect2 *h_windspeed)
	Set horizontal windspeed (int). More...

static void	stateSetVerticalWindspeed_i (uint16_t id, int32_t v_windspeed)
	Set vertical windspeed (int). More...

static void	stateSetAirspeed_i (uint16_t id, int32_t airspeed)
	Set airspeed (int). More...

static void	stateSetHorizontalWindspeed_f (uint16_t id, struct FloatVect2 *h_windspeed)
	Set horizontal windspeed (float). More...

static void	stateSetVerticalWindspeed_f (uint16_t id, float v_windspeed)
	Set vertical windspeed (float). More...

static void	stateSetAirspeed_f (uint16_t id, float airspeed)
	Set airspeed (float). More...

static void	stateSetAngleOfAttack_f (uint16_t id, float aoa)
	Set angle of attack in radians (float). More...

static void	stateSetSideslip_f (uint16_t id, float sideslip)
	Set sideslip angle in radians (float). More...

static struct Int32Vect2 *	stateGetHorizontalWindspeed_i (void)
	Get horizontal windspeed (int). More...

static float	stateGetVerticalWindspeed_i (void)
	Get vertical windspeed (int). More...

static struct Int32Vect3 *	stateGetWindspeed_i (void)
	Get windspeed (int). More...

static int32_t	stateGetAirspeed_i (void)
	Get airspeed (int). More...

static struct FloatVect2 *	stateGetHorizontalWindspeed_f (void)
	Get horizontal windspeed (float). More...

static float	stateGetVerticalWindspeed_f (void)
	Get vertical windspeed (float). More...

static struct FloatVect3 *	stateGetWindspeed_f (void)
	Get windspeed (float). More...

static float	stateGetAirspeed_f (void)
	Get airspeed (float). More...

static float	stateGetAngleOfAttack_f (void)
	Get angle of attack (float). More...

static float	stateGetSideslip_f (void)
	Get sideslip (float). More...

Variables
uint8_t	State::wind_air_status
	Holds the status bits for all wind- and airspeed representations. More...

uint16_t	State::wind_air_input_filter
	Holds the input filter id for air data. More...

union {
struct Int32Vect3	vect3

struct Int32Vect2	vect2

}	State::windspeed_i
	Horizontal windspeed in north/east/down. More...

int32_t	State::airspeed_i
	Norm of relative wind speed. More...

union {
struct FloatVect3	vect3

struct FloatVect2	vect2

}	State::windspeed_f
	Horizontal windspeed. More...

float	State::airspeed_f
	Norm of relative air speed. More...

float	State::angle_of_attack_f
	Angle of attack Unit: rad. More...

float	State::sideslip_f
	Sideslip angle Unit: rad. More...

Detailed Description

Macro Definition Documentation

◆ AIRSPEED_F

#define AIRSPEED_F 5

Definition at line 129 of file state.h.

◆ AIRSPEED_I

#define AIRSPEED_I 2

Definition at line 126 of file state.h.

◆ AOA_F

#define AOA_F 6

Definition at line 130 of file state.h.

◆ DOWNWIND_F

#define DOWNWIND_F 4

Definition at line 128 of file state.h.

◆ DOWNWIND_I

#define DOWNWIND_I 1

Definition at line 125 of file state.h.

◆ SIDESLIP_F

#define SIDESLIP_F 7

Definition at line 131 of file state.h.

◆ WINDSPEED_F

#define WINDSPEED_F 3

Definition at line 127 of file state.h.

◆ WINDSPEED_I

#define WINDSPEED_I 0

Definition at line 124 of file state.h.

Function Documentation

◆ stateCalcAirspeed_f()

void stateCalcAirspeed_f ( void )

Definition at line 1474 of file state.c.

References AIRSPEED_F, State::airspeed_f, AIRSPEED_I, State::airspeed_i, SPEED_FLOAT_OF_BFP, state, and State::wind_air_status.

Referenced by stateGetAirspeed_f().

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◆ stateCalcAirspeed_i()

void stateCalcAirspeed_i ( void )

Definition at line 1428 of file state.c.

References AIRSPEED_F, State::airspeed_f, AIRSPEED_I, State::airspeed_i, SPEED_BFP_OF_REAL, state, and State::wind_air_status.

Referenced by stateGetAirspeed_i().

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◆ stateCalcHorizontalWindspeed_f()

void stateCalcHorizontalWindspeed_f ( void )

Definition at line 1443 of file state.c.

References SPEED_FLOAT_OF_BFP, state, State::wind_air_status, WINDSPEED_F, State::windspeed_f, WINDSPEED_I, and State::windspeed_i.

Referenced by stateGetHorizontalWindspeed_f(), and stateGetWindspeed_f().

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◆ stateCalcHorizontalWindspeed_i()

void stateCalcHorizontalWindspeed_i ( void )

Definition at line 1397 of file state.c.

References SPEED_BFP_OF_REAL, state, State::wind_air_status, WINDSPEED_F, State::windspeed_f, WINDSPEED_I, and State::windspeed_i.

Referenced by stateGetHorizontalWindspeed_i(), and stateGetWindspeed_i().

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◆ stateCalcVerticalWindspeed_f()

void stateCalcVerticalWindspeed_f ( void )

Definition at line 1459 of file state.c.

References DOWNWIND_F, DOWNWIND_I, SPEED_FLOAT_OF_BFP, state, State::wind_air_status, State::windspeed_f, and State::windspeed_i.

Referenced by stateGetVerticalWindspeed_f(), and stateGetWindspeed_f().

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◆ stateCalcVerticalWindspeed_i()

void stateCalcVerticalWindspeed_i ( void )

Definition at line 1413 of file state.c.

References DOWNWIND_F, DOWNWIND_I, SPEED_BFP_OF_REAL, state, State::wind_air_status, State::windspeed_f, and State::windspeed_i.

Referenced by stateGetVerticalWindspeed_i(), and stateGetWindspeed_i().

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◆ stateGetAirspeed_f()

static float stateGetAirspeed_f ( void )

inlinestatic

Get airspeed (float).

Definition at line 1590 of file state.h.

References AIRSPEED_F, State::airspeed_f, state, stateCalcAirspeed_f(), and State::wind_air_status.

Referenced by air_data_parse_WIND_INFO(), bound_vz_sp(), ctrl_eff_scheduling_periodic(), eff_scheduling_falcon_periodic(), eff_scheduling_periodic_b(), eff_scheduling_rotwing_update_airspeed(), ekf_aw_wrapper_fetch(), flight_benchmark_periodic(), generic_com_periodic(), get_time_to_home(), guidance_indi_calcg_wing(), guidance_indi_hybrid_set_wls_settings(), guidance_indi_propagate_filters(), logger_control_effectiveness_periodic(), mavlink_send_vfr_hud(), nav_bungee_takeoff_run(), oneloop_andi_propagate_filters(), rotwing_state_periodic(), schdule_control_effectiveness(), send_airspeed(), snav_on_time(), stabilization_indi_set_wls_settings(), v_ctl_climb_loop(), and wind_estimator_periodic().

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◆ stateGetAirspeed_i()

static int32_t stateGetAirspeed_i ( void )

inlinestatic

Get airspeed (int).

Definition at line 1551 of file state.h.

References AIRSPEED_I, State::airspeed_i, state, stateCalcAirspeed_i(), and State::wind_air_status.

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◆ stateGetAngleOfAttack_f()

static float stateGetAngleOfAttack_f ( void )

inlinestatic

Get angle of attack (float).

Todo:: only float for now

Definition at line 1599 of file state.h.

References State::angle_of_attack_f, and state.

Referenced by h_ctl_pitch_loop(), and wind_estimator_periodic().

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◆ stateGetHorizontalWindspeed_f()

static struct FloatVect2* stateGetHorizontalWindspeed_f ( void )

inlinestatic

Get horizontal windspeed (float).

Definition at line 1560 of file state.h.

References state, stateCalcHorizontalWindspeed_f(), State::wind_air_status, WINDSPEED_F, and State::windspeed_f.

Referenced by compute_TOD(), get_time_to_home(), gls_compute_TOD(), mf_daq_send_state(), parse_mf_daq_msg(), and snav_on_time().

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◆ stateGetHorizontalWindspeed_i()

static struct Int32Vect2* stateGetHorizontalWindspeed_i ( void )

inlinestatic

Get horizontal windspeed (int).

Definition at line 1521 of file state.h.

References state, stateCalcHorizontalWindspeed_i(), State::wind_air_status, WINDSPEED_I, and State::windspeed_i.

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◆ stateGetSideslip_f()

static float stateGetSideslip_f ( void )

inlinestatic

Get sideslip (float).

Todo:: only float for now

Definition at line 1608 of file state.h.

References State::sideslip_f, and state.

Referenced by wind_estimator_periodic().

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◆ stateGetVerticalWindspeed_f()

static float stateGetVerticalWindspeed_f ( void )

inlinestatic

Get vertical windspeed (float).

Definition at line 1569 of file state.h.

References DOWNWIND_F, state, stateCalcVerticalWindspeed_f(), State::wind_air_status, and State::windspeed_f.

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◆ stateGetVerticalWindspeed_i()

static float stateGetVerticalWindspeed_i ( void )

inlinestatic

Get vertical windspeed (int).

Definition at line 1530 of file state.h.

References DOWNWIND_I, state, stateCalcVerticalWindspeed_i(), State::wind_air_status, and State::windspeed_i.

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◆ stateGetWindspeed_f()

static struct FloatVect3* stateGetWindspeed_f ( void )

inlinestatic

Get windspeed (float).

Definition at line 1578 of file state.h.

References DOWNWIND_F, state, stateCalcHorizontalWindspeed_f(), stateCalcVerticalWindspeed_f(), State::wind_air_status, WINDSPEED_F, and State::windspeed_f.

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◆ stateGetWindspeed_i()

static struct Int32Vect3* stateGetWindspeed_i ( void )

inlinestatic

Get windspeed (int).

Definition at line 1539 of file state.h.

References DOWNWIND_I, state, stateCalcHorizontalWindspeed_i(), stateCalcVerticalWindspeed_i(), State::wind_air_status, WINDSPEED_I, and State::windspeed_i.

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◆ stateIsAirspeedValid()

static bool stateIsAirspeedValid ( void )

inlinestatic

test if air speed is available.

Definition at line 1411 of file state.h.

References AIRSPEED_F, AIRSPEED_I, state, and State::wind_air_status.

Referenced by get_time_to_home().

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◆ stateIsAngleOfAttackValid()

static bool stateIsAngleOfAttackValid ( void )

inlinestatic

test if angle of attack is available.

Definition at line 1417 of file state.h.

References AOA_F, state, and State::wind_air_status.

◆ stateIsSideslipValid()

static bool stateIsSideslipValid ( void )

inlinestatic

test if sideslip is available.

Definition at line 1423 of file state.h.

References SIDESLIP_F, state, and State::wind_air_status.

◆ stateIsVerticalWindspeedValid()

static bool stateIsVerticalWindspeedValid ( void )

inlinestatic

test if vertical wind speed is available.

Definition at line 1405 of file state.h.

References DOWNWIND_F, DOWNWIND_I, state, and State::wind_air_status.

◆ stateIsWindspeedValid()

static bool stateIsWindspeedValid ( void )

inlinestatic

test if wind speed is available.

Definition at line 1399 of file state.h.

References state, State::wind_air_status, WINDSPEED_F, and WINDSPEED_I.

Referenced by get_time_to_home().

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◆ stateSetAirspeed_f()

static void stateSetAirspeed_f	(	uint16_t	id,
		float	airspeed
	)

inlinestatic

Set airspeed (float).

Definition at line 1486 of file state.h.

References AIRSPEED_F, State::airspeed_f, AIRSPEED_I, state, STATE_CHECK_INPUT_AND_RETURN, State::wind_air_input_filter, and State::wind_air_status.

Referenced by air_data_parse_WIND_INFO(), airspeed_adc_update(), airspeed_amsys_read_event(), airspeed_amsys_read_periodic(), airspeed_cb(), airspeed_ets_read_event(), airspeed_ets_read_periodic(), nps_autopilot_run_step(), and pressure_diff_cb().

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◆ stateSetAirspeed_i()

static void stateSetAirspeed_i	(	uint16_t	id,
		int32_t	airspeed
	)

inlinestatic

Set airspeed (int).

Definition at line 1453 of file state.h.

References AIRSPEED_F, AIRSPEED_I, State::airspeed_i, state, STATE_CHECK_INPUT_AND_RETURN, State::wind_air_input_filter, and State::wind_air_status.

◆ stateSetAngleOfAttack_f()

static void stateSetAngleOfAttack_f	(	uint16_t	id,
		float	aoa
	)

inlinestatic

Set angle of attack in radians (float).

Todo:: no integer yet

Definition at line 1497 of file state.h.

References State::angle_of_attack_f, AOA_F, state, STATE_CHECK_INPUT_AND_RETURN, State::wind_air_input_filter, and State::wind_air_status.

Referenced by aoa_adc_update(), and incidence_cb().

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◆ stateSetHorizontalWindspeed_f()

static void stateSetHorizontalWindspeed_f	(	uint16_t	id,
		struct FloatVect2 *	h_windspeed
	)

inlinestatic

Set horizontal windspeed (float).

Definition at line 1464 of file state.h.

References state, STATE_CHECK_INPUT_AND_RETURN, VECT2_COPY, State::wind_air_input_filter, State::wind_air_status, WINDSPEED_F, State::windspeed_f, and WINDSPEED_I.

Referenced by air_data_parse_WIND_INFO(), wind_estimation_quadrotor_periodic(), wind_estimation_quadrotor_stop(), and wind_estimator_event().

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◆ stateSetHorizontalWindspeed_i()

static void stateSetHorizontalWindspeed_i	(	uint16_t	id,
		struct Int32Vect2 *	h_windspeed
	)

inlinestatic

Set horizontal windspeed (int).

Definition at line 1431 of file state.h.

References state, STATE_CHECK_INPUT_AND_RETURN, VECT2_COPY, State::wind_air_input_filter, State::wind_air_status, WINDSPEED_F, WINDSPEED_I, and State::windspeed_i.

◆ stateSetSideslip_f()

static void stateSetSideslip_f	(	uint16_t	id,
		float	sideslip
	)

inlinestatic

Set sideslip angle in radians (float).

Todo:: no integer yet

Definition at line 1508 of file state.h.

References SIDESLIP_F, State::sideslip_f, state, STATE_CHECK_INPUT_AND_RETURN, State::wind_air_input_filter, and State::wind_air_status.

Referenced by incidence_cb().

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◆ stateSetVerticalWindspeed_f()

static void stateSetVerticalWindspeed_f	(	uint16_t	id,
		float	v_windspeed
	)

inlinestatic

Set vertical windspeed (float).

Definition at line 1475 of file state.h.

References DOWNWIND_F, DOWNWIND_I, state, STATE_CHECK_INPUT_AND_RETURN, State::wind_air_input_filter, State::wind_air_status, and State::windspeed_f.

Referenced by air_data_parse_WIND_INFO(), and wind_estimator_event().

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◆ stateSetVerticalWindspeed_i()

static void stateSetVerticalWindspeed_i	(	uint16_t	id,
		int32_t	v_windspeed
	)

inlinestatic

Set vertical windspeed (int).

Definition at line 1442 of file state.h.

References DOWNWIND_F, DOWNWIND_I, state, STATE_CHECK_INPUT_AND_RETURN, State::wind_air_input_filter, State::wind_air_status, and State::windspeed_i.

Variable Documentation

◆ airspeed_f

float State::airspeed_f

Norm of relative air speed.

Unit: m/s

Definition at line 484 of file state.h.

Referenced by stateCalcAirspeed_f(), stateCalcAirspeed_i(), stateGetAirspeed_f(), and stateSetAirspeed_f().

◆ airspeed_i

int32_t State::airspeed_i

Norm of relative wind speed.

Unit: m/s in BFP with INT32_SPEED_FRAC

Definition at line 469 of file state.h.

Referenced by stateCalcAirspeed_f(), stateCalcAirspeed_i(), stateGetAirspeed_i(), and stateSetAirspeed_i().

◆ angle_of_attack_f

float State::angle_of_attack_f

Angle of attack Unit: rad.

Definition at line 490 of file state.h.

Referenced by stateGetAngleOfAttack_f(), and stateSetAngleOfAttack_f().

◆ sideslip_f

float State::sideslip_f

Sideslip angle Unit: rad.

Definition at line 496 of file state.h.

Referenced by stateGetSideslip_f(), and stateSetSideslip_f().

◆ [1/2]

struct { ... } ::vect2

Definition at line 496 of file state.h.

◆ [2/2]

struct { ... } ::vect2

Definition at line 496 of file state.h.

◆ [1/2]

struct { ... } ::vect3

Definition at line 496 of file state.h.

◆ [2/2]

struct { ... } ::vect3

Definition at line 496 of file state.h.

◆ wind_air_input_filter

uint16_t State::wind_air_input_filter

Holds the input filter id for air data.

Definition at line 454 of file state.h.

Referenced by stateGetEcefOrigin_f(), stateInit(), stateSetAirspeed_f(), stateSetAirspeed_i(), stateSetAngleOfAttack_f(), stateSetHorizontalWindspeed_f(), stateSetHorizontalWindspeed_i(), stateSetSideslip_f(), stateSetVerticalWindspeed_f(), and stateSetVerticalWindspeed_i().

◆ wind_air_status

uint8_t State::wind_air_status

Holds the status bits for all wind- and airspeed representations.

When the corresponding bit is one the representation is already computed.

Definition at line 449 of file state.h.

Referenced by stateCalcAirspeed_f(), stateCalcAirspeed_i(), stateCalcHorizontalWindspeed_f(), stateCalcHorizontalWindspeed_i(), stateCalcVerticalWindspeed_f(), stateCalcVerticalWindspeed_i(), stateGetAirspeed_f(), stateGetAirspeed_i(), stateGetHorizontalWindspeed_f(), stateGetHorizontalWindspeed_i(), stateGetVerticalWindspeed_f(), stateGetVerticalWindspeed_i(), stateGetWindspeed_f(), stateGetWindspeed_i(), stateInit(), stateIsAirspeedValid(), stateIsAngleOfAttackValid(), stateIsSideslipValid(), stateIsVerticalWindspeedValid(), stateIsWindspeedValid(), stateSetAirspeed_f(), stateSetAirspeed_i(), stateSetAngleOfAttack_f(), stateSetHorizontalWindspeed_f(), stateSetHorizontalWindspeed_i(), stateSetSideslip_f(), stateSetVerticalWindspeed_f(), and stateSetVerticalWindspeed_i().

◆

union { ... } State::windspeed_f

Horizontal windspeed.

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

Referenced by stateCalcHorizontalWindspeed_f(), stateCalcHorizontalWindspeed_i(), stateCalcVerticalWindspeed_f(), stateCalcVerticalWindspeed_i(), stateGetHorizontalWindspeed_f(), stateGetVerticalWindspeed_f(), stateGetWindspeed_f(), stateSetHorizontalWindspeed_f(), and stateSetVerticalWindspeed_f().

◆

union { ... } State::windspeed_i

Horizontal windspeed in north/east/down.

Units: m/s in BFP with INT32_SPEED_FRAC

Referenced by stateCalcHorizontalWindspeed_f(), stateCalcHorizontalWindspeed_i(), stateCalcVerticalWindspeed_f(), stateCalcVerticalWindspeed_i(), stateGetHorizontalWindspeed_i(), stateGetVerticalWindspeed_i(), stateGetWindspeed_i(), stateSetHorizontalWindspeed_i(), and stateSetVerticalWindspeed_i().

Macros

Functions

Variables

Detailed Description

Macro Definition Documentation

◆ AIRSPEED_F

◆ AIRSPEED_I

◆ AOA_F

◆ DOWNWIND_F

◆ DOWNWIND_I

◆ SIDESLIP_F

◆ WINDSPEED_F

◆ WINDSPEED_I

Function Documentation

◆ stateCalcAirspeed_f()

◆ stateCalcAirspeed_i()

◆ stateCalcHorizontalWindspeed_f()

◆ stateCalcHorizontalWindspeed_i()

◆ stateCalcVerticalWindspeed_f()

◆ stateCalcVerticalWindspeed_i()

◆ stateGetAirspeed_f()

◆ stateGetAirspeed_i()

◆ stateGetAngleOfAttack_f()

◆ stateGetHorizontalWindspeed_f()

◆ stateGetHorizontalWindspeed_i()

◆ stateGetSideslip_f()

◆ stateGetVerticalWindspeed_f()

◆ stateGetVerticalWindspeed_i()

◆ stateGetWindspeed_f()

◆ stateGetWindspeed_i()

◆ stateIsAirspeedValid()

◆ stateIsAngleOfAttackValid()

◆ stateIsSideslipValid()

◆ stateIsVerticalWindspeedValid()

◆ stateIsWindspeedValid()

◆ stateSetAirspeed_f()

◆ stateSetAirspeed_i()

◆ stateSetAngleOfAttack_f()

◆ stateSetHorizontalWindspeed_f()

◆ stateSetHorizontalWindspeed_i()

◆ stateSetSideslip_f()

◆ stateSetVerticalWindspeed_f()

◆ stateSetVerticalWindspeed_i()

Variable Documentation

◆ airspeed_f

◆ airspeed_i

◆ angle_of_attack_f

◆ sideslip_f

◆ [1/2]

◆ [2/2]

◆ [1/2]

◆ [2/2]

◆ wind_air_input_filter

◆ wind_air_status

◆

◆