Paparazzi UAS  v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
ins_ext_pose.h
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1 /*
2  * Copyright (C) 2023 MAVLab
3  *
4  * This file is part of paparazzi.
5  *
6  * paparazzi is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License as published by
8  * the Free Software Foundation; either version 2, or (at your option)
9  * any later version.
10  *
11  * paparazzi is distributed in the hope that it will be useful,
12  * but WITHOUT ANY WARRANTY; without even the implied warranty of
13  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14  * GNU General Public License for more details.
15  *
16  * You should have received a copy of the GNU General Public License
17  * along with paparazzi; see the file COPYING. If not, write to
18  * the Free Software Foundation, 59 Temple Place - Suite 330,
19  * Boston, MA 02111-1307, USA.
20  */
21 
27 /*
28 Extened kalman filter based on https://en.wikipedia.org/wiki/Extended_Kalman_filter
29 Section 5.3: Non-additive noise formulation and equations
30 */
31 
32 #ifndef INS_EXT_POSE_H
33 #define INS_EXT_POSE_H
34 
35 #define EKF_NUM_STATES 15
36 #define EKF_NUM_INPUTS 6
37 #define EKF_NUM_OUTPUTS 6
38 
39 #include "std.h"
40 
41 #include <stdio.h>
42 
43 
44 extern float ekf_X[EKF_NUM_STATES];
45 
46 extern void ins_ext_pose_init(void);
47 extern void ins_ext_pose_run(void);
48 
49 extern void ins_ext_pose_msg_update(uint8_t *buf);
50 
51 // Logging
52 extern void ins_ext_pos_log_header(FILE *file);
53 extern void ins_ext_pos_log_data(FILE *file);
54 
55 
56 #endif
#define EKF_NUM_STATES
Definition: ins_ext_pose.h:35
void ins_ext_pose_msg_update(uint8_t *buf)
Import External Pose Message.
Definition: ins_ext_pose.c:163
void ins_ext_pos_log_data(FILE *file)
void ins_ext_pose_init(void)
Module.
Definition: ins_ext_pose.c:222
void ins_ext_pose_run(void)
Definition: ins_ext_pose.c:250
void ins_ext_pos_log_header(FILE *file)
Logging.
float ekf_X[EKF_NUM_STATES]
Definition: ins_ext_pose.c:279
unsigned char uint8_t
Typedef defining 8 bit unsigned char type.
Definition: vl53l1_types.h:98