ins_alt_float.h File Reference

Filters altitude and climb rate for fixedwings. More...

#include "modules/ins/ins.h"
#include <inttypes.h>
#include "std.h"

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Data Structures
struct	InsAltFloat
	Ins implementation state (altitude, float). More...

Functions
void	ins_alt_float_init (void)
void	ins_alt_float_update_baro (float pressure)

Variables
struct InsAltFloat	ins_altf

Detailed Description

Filters altitude and climb rate for fixedwings.

Definition in file ins_alt_float.h.

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Data Structure Documentation

InsAltFloat

struct InsAltFloat

Ins implementation state (altitude, float).

Definition at line 37 of file ins_alt_float.h.

Data Fields
float	alt	estimated altitude above MSL in meters
float	alt_dot	estimated vertical speed in m/s (positive-up)
float	baro_alt
bool	baro_initialized
bool	origin_initialized	TRUE if UTM origin was initialized.
float	qfe
bool	reset_alt_ref	flag to request reset of altitude reference to current alt

Function Documentation

ins_alt_float_init()

void ins_alt_float_init ( void )

extern

Definition at line 101 of file ins_alt_float.c.

References ABI_BROADCAST, accel_cb(), accel_ev, alt_kalman(), alt_kalman_init(), baro_cb(), baro_ev, gps_cb(), gps_ev, INS_ALT_BARO_ID, INS_ALT_GPS_ID, INS_ALT_IMU_ID, ins_altf, nav_utm_east0, nav_utm_north0, nav_utm_zone0, reset_cb(), reset_ev, stateSetLocalUtmOrigin_f(), and stateSetPositionUtm_f().

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ins_alt_float_update_baro()

void ins_alt_float_update_baro ( float pressure )

extern

Definition at line 172 of file ins_alt_float.c.

References UtmCoor_f::alt, alt_kalman(), alt_kalman_reset(), get_sys_time_usec(), ground_alt, ins_altf, last_ts, pprz_isa_height_of_pressure(), stateGetPositionUtm_f(), stateGetSpeedNed_f(), stateSetPositionUtm_f(), stateSetSpeedNed_f(), UTM_COPY, and NedCoor_f::z.

Referenced by baro_cb().

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Variable Documentation

ins_altf

struct InsAltFloat ins_altf

extern

Definition at line 54 of file ins_alt_float.c.

Referenced by alt_kalman(), ins_alt_float_init(), ins_alt_float_update_baro(), ins_alt_float_update_gps(), reset_ref(), and reset_vertical_ref().