state.h File Reference

API to get/set the generic vehicle states. More...

#include "math/pprz_algebra_int.h"
#include "math/pprz_algebra_float.h"
#include "math/pprz_geodetic_int.h"
#include "math/pprz_geodetic_float.h"
#include "math/pprz_orientation_conversion.h"
#include "std.h"
#include <string.h>

Include dependency graph for state.h:

Go to the source code of this file.

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	POS_ECEF_I   0
#define	POS_NED_I   1
#define	POS_ENU_I   2
#define	POS_LLA_I   3
#define	POS_UTM_I   4
#define	POS_ECEF_F   5
#define	POS_NED_F   6
#define	POS_ENU_F   7
#define	POS_LLA_F   8
#define	POS_UTM_F   9
#define	POS_LOCAL_COORD   ((1<<POS_NED_I)|(1<<POS_NED_F)|(1<<POS_ENU_I)|(1<<POS_ENU_F))
#define	POS_GLOBAL_COORD   ((1<<POS_ECEF_I)|(1<<POS_ECEF_F)|(1<<POS_LLA_I)|(1<<POS_LLA_F)|(1<<POS_UTM_I)|(1<<POS_UTM_F))
#define	SPEED_ECEF_I   0
#define	SPEED_NED_I   1
#define	SPEED_ENU_I   2
#define	SPEED_HNORM_I   3
#define	SPEED_HDIR_I   4
#define	SPEED_ECEF_F   5
#define	SPEED_NED_F   6
#define	SPEED_ENU_F   7
#define	SPEED_HNORM_F   8
#define	SPEED_HDIR_F   9
#define	SPEED_LOCAL_COORD   ((1<<SPEED_NED_I)|(1<<SPEED_ENU_I)|(1<<SPEED_NED_F)|(1<<SPEED_ENU_F))
#define	ACCEL_ECEF_I   0
#define	ACCEL_NED_I   1
#define	ACCEL_ECEF_F   2
#define	ACCEL_NED_F   3
#define	RATE_I   0
#define	RATE_F   1
#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
#define	STATE_INPUT_DISABLE   0
	use with care More...
#define	STATE_INPUT_ANY   0xFFFF
	default More...
#define	STATE_INPUT_ORIGIN   1
#define	STATE_INPUT_POS   2
#define	STATE_INPUT_SPEED   3
#define	STATE_INPUT_ACCEL   4
#define	STATE_INPUT_ATTITUDE   5
#define	STATE_INPUT_RATES   6
#define	STATE_INPUT_WIND_AIR   7
#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...
static void	stateSetLocalOrigin_i (uint16_t id, struct LtpDef_i *ltp_def)
	Set the local (flat earth) coordinate frame origin (int). More...
static void	stateSetLocalUtmOrigin_f (uint16_t id, struct UtmCoor_f *utm_def)
	Set the local (flat earth) coordinate frame origin from UTM (float). More...
static struct LtpDef_i *	stateGetNedOrigin_i (void)
	Get the coordinate NED frame origin (int) More...
static struct LtpDef_f *	stateGetNedOrigin_f (void)
	Get the coordinate NED frame origin (float) More...
static struct UtmCoor_f *	stateGetUtmOrigin_f (void)
	Get the coordinate UTM frame origin (int) More...
struct LlaCoor_i	stateGetLlaOrigin_i (void)
	Get the LLA position of the frame origin (int) More...
struct LlaCoor_f	stateGetLlaOrigin_f (void)
	Get the LLA position of the frame origin (float) More...
struct EcefCoor_i	stateGetEcefOrigin_i (void)
	Get the ECEF position of the frame origin (int) More...
struct EcefCoor_f	stateGetEcefOrigin_f (void)
	Get the ECEF position of the frame origin (float) More...
int32_t	stateGetHmslOrigin_i (void)
	Get the HMSL of the frame origin (int) More...
float	stateGetHmslOrigin_f (void)
	Get the HMSL of the frame origin (float) More...
void	stateCalcPositionEcef_i (void)
void	stateCalcPositionNed_i (void)
void	stateCalcPositionEnu_i (void)
void	stateCalcPositionLla_i (void)
	Calculate LLA (int) from any other available representation. More...
void	stateCalcPositionUtm_f (void)
void	stateCalcPositionEcef_f (void)
void	stateCalcPositionNed_f (void)
void	stateCalcPositionEnu_f (void)
void	stateCalcPositionLla_f (void)
static bool	stateIsLocalCoordinateValid (void)
	Test if local coordinates are valid. More...
static bool	stateIsGlobalCoordinateValid (void)
	Test if global coordinates are valid. More...
static void	stateSetPositionEcef_i (uint16_t id, struct EcefCoor_i *ecef_pos)
	Set position from ECEF coordinates (int). More...
static void	stateSetPositionNed_i (uint16_t id, struct NedCoor_i *ned_pos)
	Set position from local NED coordinates (int). More...
static void	stateSetPositionEnu_i (uint16_t id, struct EnuCoor_i *enu_pos)
	Set position from local ENU coordinates (int). More...
static void	stateSetPositionLla_i (uint16_t id, struct LlaCoor_i *lla_pos)
	Set position from LLA coordinates (int). More...
static void	stateSetPosition_i (uint16_t id, struct EcefCoor_i *ecef_pos, struct NedCoor_i *ned_pos, struct EnuCoor_i *enu_pos, struct LlaCoor_i *lla_pos)
	Set multiple position coordinates (int). More...
static void	stateSetPositionUtm_f (uint16_t id, struct UtmCoor_f *utm_pos)
	Set position from UTM coordinates (float). More...
static void	stateSetPositionEcef_f (uint16_t id, struct EcefCoor_f *ecef_pos)
	Set position from ECEF coordinates (float). More...
static void	stateSetPositionNed_f (uint16_t id, struct NedCoor_f *ned_pos)
	Set position from local NED coordinates (float). More...
static void	stateSetPositionEnu_f (uint16_t id, struct EnuCoor_f *enu_pos)
	Set position from local ENU coordinates (float). More...
static void	stateSetPositionLla_f (uint16_t id, struct LlaCoor_f *lla_pos)
	Set position from LLA coordinates (float). More...
static void	stateSetPosition_f (uint16_t id, struct EcefCoor_f *ecef_pos, struct NedCoor_f *ned_pos, struct EnuCoor_f *enu_pos, struct LlaCoor_f *lla_pos, struct UtmCoor_f *utm_pos)
	Set multiple position coordinates (float). More...
static struct EcefCoor_i *	stateGetPositionEcef_i (void)
	Get position in ECEF coordinates (int). More...
static struct NedCoor_i *	stateGetPositionNed_i (void)
	Get position in local NED coordinates (int). More...
static struct EnuCoor_i *	stateGetPositionEnu_i (void)
	Get position in local ENU coordinates (int). More...
static struct LlaCoor_i *	stateGetPositionLla_i (void)
	Get position in LLA coordinates (int). More...
static struct UtmCoor_f *	stateGetPositionUtm_f (void)
	Get position in UTM coordinates (float). More...
static struct EcefCoor_f *	stateGetPositionEcef_f (void)
	Get position in ECEF coordinates (float). More...
static struct NedCoor_f *	stateGetPositionNed_f (void)
	Get position in local NED coordinates (float). More...
static struct EnuCoor_f *	stateGetPositionEnu_f (void)
	Get position in local ENU coordinates (float). More...
static struct LlaCoor_f *	stateGetPositionLla_f (void)
	Get position in LLA coordinates (float). More...
void	stateCalcSpeedNed_i (void)
void	stateCalcSpeedEnu_i (void)
void	stateCalcSpeedEcef_i (void)
void	stateCalcHorizontalSpeedNorm_i (void)
void	stateCalcHorizontalSpeedDir_i (void)
void	stateCalcSpeedNed_f (void)
void	stateCalcSpeedEnu_f (void)
void	stateCalcSpeedEcef_f (void)
void	stateCalcHorizontalSpeedNorm_f (void)
void	stateCalcHorizontalSpeedDir_f (void)
static void	stateSetSpeedNed_i (uint16_t id, struct NedCoor_i *ned_speed)
	Set ground speed in local NED coordinates (int). More...
static void	stateSetSpeedEnu_i (uint16_t id, struct EnuCoor_i *enu_speed)
	Set ground speed in local ENU coordinates (int). More...
static void	stateSetSpeedEcef_i (uint16_t id, struct EcefCoor_i *ecef_speed)
	Set ground speed in ECEF coordinates (int). More...
static void	stateSetSpeed_i (uint16_t id, struct EcefCoor_i *ecef_speed, struct NedCoor_i *ned_speed, struct EnuCoor_i *enu_speed)
	Set multiple speed coordinates (int). More...
static void	stateSetSpeedNed_f (uint16_t id, struct NedCoor_f *ned_speed)
	Set ground speed in local NED coordinates (float). More...
static void	stateSetSpeedEnu_f (uint16_t id, struct EnuCoor_f *enu_speed)
	Set ground speed in local ENU coordinates (float). More...
static void	stateSetSpeedEcef_f (uint16_t id, struct EcefCoor_f *ecef_speed)
	Set ground speed in ECEF coordinates (float). More...
static void	stateSetSpeed_f (uint16_t id, struct EcefCoor_f *ecef_speed, struct NedCoor_f *ned_speed, struct EnuCoor_f *enu_speed)
	Set multiple speed coordinates (float). More...
static struct NedCoor_i *	stateGetSpeedNed_i (void)
	Get ground speed in local NED coordinates (int). More...
static struct EnuCoor_i *	stateGetSpeedEnu_i (void)
	Get ground speed in local ENU coordinates (int). More...
static struct EcefCoor_i *	stateGetSpeedEcef_i (void)
	Get ground speed in ECEF coordinates (int). More...
static uint32_t	stateGetHorizontalSpeedNorm_i (void)
	Get norm of horizontal ground speed (int). More...
static int32_t	stateGetHorizontalSpeedDir_i (void)
	Get dir of horizontal ground speed (int). More...
static struct NedCoor_f *	stateGetSpeedNed_f (void)
	Get ground speed in local NED coordinates (float). More...
static struct EnuCoor_f *	stateGetSpeedEnu_f (void)
	Get ground speed in local ENU coordinates (float). More...
static struct EcefCoor_f *	stateGetSpeedEcef_f (void)
	Get ground speed in ECEF coordinates (float). More...
static float	stateGetHorizontalSpeedNorm_f (void)
	Get norm of horizontal ground speed (float). More...
static float	stateGetHorizontalSpeedDir_f (void)
	Get dir of horizontal ground speed (float). More...
static struct Int32Vect3 *	stateGetAccelBody_i (void)
	Get acceleration in Body coordinates (int). More...
void	stateCalcAccelNed_i (void)
void	stateCalcAccelEcef_i (void)
void	stateCalcAccelNed_f (void)
void	stateCalcAccelEcef_f (void)
static bool	stateIsAccelValid (void)
	Test if accelerations are valid. More...
static void	stateSetAccelNed_i (uint16_t id, struct NedCoor_i *ned_accel)
	Set acceleration in NED coordinates (int). More...
static void	stateSetAccelEcef_i (uint16_t id, struct EcefCoor_i *ecef_accel)
	Set acceleration in ECEF coordinates (int). More...
static void	stateSetAccelNed_f (uint16_t id, struct NedCoor_f *ned_accel)
	Set acceleration in NED coordinates (float). More...
static void	stateSetAccelEcef_f (uint16_t id, struct EcefCoor_f *ecef_accel)
	Set acceleration in ECEF coordinates (float). More...
static void	stateSetAccelBody_i (uint16_t id, struct Int32Vect3 *body_accel)
	Set acceleration in Body coordinates (int). More...
static struct NedCoor_i *	stateGetAccelNed_i (void)
	Get acceleration in NED coordinates (int). More...
static struct EcefCoor_i *	stateGetAccelEcef_i (void)
	Get acceleration in ECEF coordinates (int). More...
static struct NedCoor_f *	stateGetAccelNed_f (void)
	Get acceleration in NED coordinates (float). More...
static struct EcefCoor_f *	stateGetAccelEcef_f (void)
	Get acceleration in ECEF coordinates (float). More...
static bool	stateIsAttitudeValid (void)
	Test if attitudes are valid. More...
static void	stateSetNedToBodyQuat_i (uint16_t id, struct Int32Quat *ned_to_body_quat)
	Set vehicle body attitude from quaternion (int). More...
static void	stateSetNedToBodyRMat_i (uint16_t id, struct Int32RMat *ned_to_body_rmat)
	Set vehicle body attitude from rotation matrix (int). More...
static void	stateSetNedToBodyEulers_i (uint16_t id, struct Int32Eulers *ned_to_body_eulers)
	Set vehicle body attitude from euler angles (int). More...
static void	stateSetNedToBodyQuat_f (uint16_t id, struct FloatQuat *ned_to_body_quat)
	Set vehicle body attitude from quaternion (float). More...
static void	stateSetNedToBodyRMat_f (uint16_t id, struct FloatRMat *ned_to_body_rmat)
	Set vehicle body attitude from rotation matrix (float). More...
static void	stateSetNedToBodyEulers_f (uint16_t id, struct FloatEulers *ned_to_body_eulers)
	Set vehicle body attitude from euler angles (float). More...
static struct Int32Quat *	stateGetNedToBodyQuat_i (void)
	Get vehicle body attitude quaternion (int). More...
static struct Int32RMat *	stateGetNedToBodyRMat_i (void)
	Get vehicle body attitude rotation matrix (int). More...
static struct Int32Eulers *	stateGetNedToBodyEulers_i (void)
	Get vehicle body attitude euler angles (int). More...
static struct FloatQuat *	stateGetNedToBodyQuat_f (void)
	Get vehicle body attitude quaternion (float). More...
static struct FloatRMat *	stateGetNedToBodyRMat_f (void)
	Get vehicle body attitude rotation matrix (float). More...
static struct FloatEulers *	stateGetNedToBodyEulers_f (void)
	Get vehicle body attitude euler angles (float). More...
void	stateCalcBodyRates_i (void)
void	stateCalcBodyRates_f (void)
static bool	stateIsRateValid (void)
	Test if rates are valid. More...
static void	stateSetBodyRates_i (uint16_t id, struct Int32Rates *body_rate)
	Set vehicle body angular rate (int). More...
static void	stateSetBodyRates_f (uint16_t id, struct FloatRates *body_rate)
	Set vehicle body angular rate (float). More...
static struct Int32Rates *	stateGetBodyRates_i (void)
	Get vehicle body angular rate (int). More...
static struct FloatRates *	stateGetBodyRates_f (void)
	Get vehicle body angular rate (float). More...
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
struct State	state

Detailed Description

API to get/set the generic vehicle states.

Also see the State Interface page.

Author

Felix Ruess felix.nosp@m..rue.nosp@m.ss@gm.nosp@m.ail..nosp@m.com

Definition in file state.h.