wind_estimation_quadrotor.h File Reference

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Data Structures
struct	wind_estimation_quadrotor_params

Functions
void	wind_estimation_quadrotor_init (void)
void	wind_estimation_quadrotor_periodic (void)
void	wind_estimation_quadrotor_stop (void)
void	wind_estimation_quadrotor_start (void)
void	wind_estimation_quadrotor_report (void)
float	wind_estimation_quadrotor_SetQva (float Q_va)
float	wind_estimation_quadrotor_SetQw (float Q_w)
float	wind_estimation_quadrotor_SetR (float R)

Variables
struct wind_estimation_quadrotor_params	we_quad_params

Detailed Description

Author

Gautier Hattenberger gauti.nosp@m.er.h.nosp@m.atten.nosp@m.berg.nosp@m.er@en.nosp@m.ac.f.nosp@m.r Wind estimation from quadrotor motion

Definition in file wind_estimation_quadrotor.h.

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Data Structure Documentation

wind_estimation_quadrotor_params

struct wind_estimation_quadrotor_params

Definition at line 29 of file wind_estimation_quadrotor.h.

Data Fields
float	Q_va	model noise on airspeed
float	Q_w	model noise on wind
float	R	measurement noise (ground speed)

Function Documentation

wind_estimation_quadrotor_init()

void wind_estimation_quadrotor_init

(

void

)

Definition at line 98 of file wind_estimation_quadrotor.c.

References linear_kalman_filter::A, linear_kalman_filter::B, linear_kalman_filter::C, DefaultPeriodic, wind_estimation_quadrotor::filter, linear_kalman_filter_init(), linear_kalman_filter::Q, wind_estimation_quadrotor_params::Q_va, wind_estimation_quadrotor_params::Q_w, linear_kalman_filter::R, wind_estimation_quadrotor_params::R, register_periodic_telemetry(), send_wind(), wind_estimation_quadrotor::status, we_dt, we_quad, WE_QUAD_CMD_SIZE, WE_QUAD_MEAS_SIZE, we_quad_params, WE_QUAD_Q_VA, WE_QUAD_Q_W, WE_QUAD_R, WE_QUAD_STATE_SIZE, WE_QUAD_STATUS_IDLE, and wind_estimation_quadrotor_reset().

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wind_estimation_quadrotor_periodic()

void wind_estimation_quadrotor_periodic

(

void

)

Definition at line 133 of file wind_estimation_quadrotor.c.

References AIRSPEED_WE_QUAD_ID, eas_from_tas(), wind_estimation_quadrotor::filter, float_rmat_transp_vmult(), float_vect2_norm(), linear_kalman_filter_predict(), linear_kalman_filter_update(), MAT33_ELMT, PPRZ_ISA_GRAVITY, stateGetNedToBodyRMat_f(), stateGetSpeedNed_f(), stateSetHorizontalWindspeed_f(), we_quad, WE_QUAD_CMD_SIZE, WE_QUAD_MEAS_SIZE, WE_QUAD_VA_X, WE_QUAD_VA_Y, WE_QUAD_W_X, WE_QUAD_W_Y, linear_kalman_filter::X, FloatVect3::x, NedCoor_f::x, FloatVect3::y, NedCoor_f::y, and mesonh.mesonh_atmosphere::Y.

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wind_estimation_quadrotor_report()

void wind_estimation_quadrotor_report

(

void

)

Definition at line 208 of file wind_estimation_quadrotor.c.

References DefaultChannel, DefaultDevice, wind_estimation_quadrotor::filter, we_quad, WE_QUAD_STATE_SIZE, and linear_kalman_filter::X.

wind_estimation_quadrotor_SetQva()

float wind_estimation_quadrotor_SetQva

(

float

Q_va

)

Definition at line 184 of file wind_estimation_quadrotor.c.

References wind_estimation_quadrotor::filter, linear_kalman_filter::Q, wind_estimation_quadrotor_params::Q_va, we_quad, and we_quad_params.

wind_estimation_quadrotor_SetQw()

float wind_estimation_quadrotor_SetQw

(

float

Q_w

)

Definition at line 192 of file wind_estimation_quadrotor.c.

References wind_estimation_quadrotor::filter, linear_kalman_filter::Q, wind_estimation_quadrotor_params::Q_w, we_quad, and we_quad_params.

wind_estimation_quadrotor_SetR()

float wind_estimation_quadrotor_SetR

(

float

R

)

Definition at line 200 of file wind_estimation_quadrotor.c.

References wind_estimation_quadrotor::filter, linear_kalman_filter::R, wind_estimation_quadrotor_params::R, we_quad, and we_quad_params.

wind_estimation_quadrotor_start()

void wind_estimation_quadrotor_start

(

void

)

Definition at line 178 of file wind_estimation_quadrotor.c.

References wind_estimation_quadrotor::status, we_quad, WE_QUAD_STATUS_RUN, and wind_estimation_quadrotor_reset().

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wind_estimation_quadrotor_stop()

void wind_estimation_quadrotor_stop

(

void

)

Definition at line 169 of file wind_estimation_quadrotor.c.

References stateSetHorizontalWindspeed_f(), wind_estimation_quadrotor::status, we_quad, and WE_QUAD_STATUS_IDLE.

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Variable Documentation

we_quad_params

struct wind_estimation_quadrotor_params we_quad_params

extern

Definition at line 79 of file wind_estimation_quadrotor.c.

Referenced by wind_estimation_quadrotor_init(), wind_estimation_quadrotor_SetQva(), wind_estimation_quadrotor_SetQw(), and wind_estimation_quadrotor_SetR().