vf_float.h File Reference

Vertical filter (in float) estimating altitude, velocity and accel bias. More...

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Data Structures
struct	Vff

Macros
#define	VFF_STATE_SIZE   3

Functions
void	vff_init_zero (void)
void	vff_init (float z, float zdot, float bias)
void	vff_propagate (float accel, float dt)
	Propagate the filter in time. More...
void	vff_update (float z_meas)
void	vff_update_z_conf (float z_meas, float conf)
void	vff_update_vz_conf (float vz_meas, float conf)
void	vff_realign (float z_meas)

Variables
struct Vff	vff

Detailed Description

Vertical filter (in float) estimating altitude, velocity and accel bias.

Definition in file vf_float.h.

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Data Structure Documentation

Vff

struct Vff

Definition at line 34 of file vf_float.h.

Data Fields
float	bias	accel bias estimate in m/s^2
float	P[VFF_STATE_SIZE][VFF_STATE_SIZE]	covariance matrix
float	z	z-position estimate in m (NED, z-down)
float	z_meas	last measurement
float	zdot	z-velocity estimate in m/s (NED, z-down)
float	zdotdot	z-acceleration in m/s^2 (NED, z-down)

Macro Definition Documentation

VFF_STATE_SIZE

#define VFF_STATE_SIZE   3

Definition at line 32 of file vf_float.h.

Function Documentation

vff_init()

void vff_init	(	float	z,
		float	zdot,
		float	bias
	)

Definition at line 71 of file vf_float.c.

References Vff::bias, DefaultPeriodic, Vff::P, register_periodic_telemetry(), send_vff(), vff, VFF_INIT_PXX, VFF_STATE_SIZE, Vff::z, and Vff::zdot.

Referenced by vff_init_zero().

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vff_init_zero()

void vff_init_zero

(

void

)

Definition at line 107 of file vf_extended_float.c.

References vff_init().

Referenced by ins_int_init().

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vff_propagate()

void vff_propagate	(	float	accel,
		float	dt
	)

Propagate the filter in time.

F = [ 1 dt -dt^2/2 0 0 0 1 -dt 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 1 ];

B = [ dt^2/2 dt 0 0 0]';

Q = [ Qzz 0 0 0 0 0 Qzdotzdot 0 0 0 0 0 Qbiasbias 0 0 0 0 0 0 Qoffoff 0 0 0 0 0 0 Qobsobs ];

Qzz = VFF_EXTENDED_ACCEL_NOISE * DT_VFILTER * DT_VFILTER / 2. Qzdotzdot = VFF_EXTENDED_ACCEL_NOISE * DT_VFILTER

Xk1 = F * Xk0 + B * accel;

Pk1 = F * Pk0 * F' + Q;

F = [ 1 dt -dt^2/2 0 1 -dt 0 0 1 ];

B = [ dt^2/2 dt 0]';

Q = [ 0.01 0 0 0 0.01 0 0 0 0.001 ];

Xk1 = F * Xk0 + B * accel;

Pk1 = F * Pk0 * F' + Q;

Definition at line 181 of file vf_extended_float.c.

References VffExtended::accel_noise, VffExtended::bias, Vff::bias, DefaultChannel, DefaultDevice, VffExtended::P, Vff::P, Qbiasbias, Qobsobs, Qoffoff, send_vffe(), vff, VFF_ACCEL_NOISE, VffExtended::z, Vff::z, VffExtended::zdot, Vff::zdot, VffExtended::zdotdot, and Vff::zdotdot.

Referenced by ins_int_propagate().

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vff_realign()

void vff_realign

(

float

z_meas

)

Definition at line 384 of file vf_extended_float.c.

References VffExtended::obs_height, VffExtended::offset, vff, VffExtended::z, Vff::z, VffExtended::z_meas, Vff::z_meas, VffExtended::zdot, and Vff::zdot.

Referenced by baro_cb().

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vff_update()

void vff_update

(

float

z_meas

)

Definition at line 189 of file vf_float.c.

References update_z_conf(), VFF_MEAS_NOISE, and Vff::z_meas.

Referenced by baro_cb().

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vff_update_vz_conf()

void vff_update_vz_conf	(	float	vz_meas,
		float	conf
	)

Definition at line 433 of file vf_extended_float.c.

References update_vz_conf().

Referenced by ins_int_update_gps(), and vel_est_cb().

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vff_update_z_conf()

void vff_update_z_conf	(	float	z_meas,
		float	conf
	)

Definition at line 310 of file vf_extended_float.c.

References update_alt_conf(), update_z_conf(), VffExtended::z_meas, and Vff::z_meas.

Referenced by ins_int_update_gps(), pos_est_cb(), vff_update_agl(), and vff_update_z().

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Variable Documentation

vff

struct Vff vff

extern

Definition at line 1 of file vf_extended_float.c.

Referenced by ins_update_from_vff(), send_vff(), send_vffe(), update_alt_conf(), update_biased_z_conf(), update_obs_height(), update_vz_conf(), update_z_conf(), vff_init(), vff_propagate(), vff_realign(), vff_update_baro(), vff_update_obs_height(), and vff_update_z().