alt_filter.c File Reference

#include "modules/ins/alt_filter.h"
#include "subsystems/gps.h"
#include "modules/sensors/baro_ets.h"
#include "mcu_periph/uart.h"
#include "pprzlink/messages.h"
#include "subsystems/datalink/downlink.h"

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Functions
void	kalmanInit (TypeKalman *k)
void	kalmanEstimation (TypeKalman *k, float accVert)
void	kalmanCorrectionGPS (TypeKalman *k, float altitude_gps)
void	kalmanCorrectionAltimetre (TypeKalman *k, float altitude_altimetre)
void	alt_filter_init (void)
void	alt_filter_periodic (void)

Variables
TypeKalman	alt_filter
float	SigAltiGPS
float	SigAltiAltimetre
float	MarcheAleaBiaisAltimetre
float	MarcheAleaAccelerometre
float	last_gps_alt
float	last_baro_alt

Function Documentation

void alt_filter_init

(

void

)

Definition at line 49 of file alt_filter.c.

References kalmanInit(), last_baro_alt, last_gps_alt, MarcheAleaAccelerometre, MarcheAleaBiaisAltimetre, SigAltiAltimetre, and SigAltiGPS.

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void alt_filter_periodic

(

void

)

Definition at line 61 of file alt_filter.c.

References baro_ets_altitude, DefaultChannel, DefaultDevice, gps, GpsFixValid, GpsState::hmsl, if(), kalmanCorrectionAltimetre(), kalmanCorrectionGPS(), kalmanEstimation(), last_baro_alt, last_gps_alt, TypeKalman::P, and TypeKalman::X.

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void kalmanCorrectionAltimetre	(	TypeKalman *	k,
		float	altitude_altimetre
	)

Definition at line 226 of file alt_filter.c.

References TypeKalman::P, SigAltiAltimetre, and TypeKalman::X.

Referenced by alt_filter_periodic().

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void kalmanCorrectionGPS	(	TypeKalman *	k,
		float	altitude_gps
	)

Definition at line 178 of file alt_filter.c.

References TypeKalman::P, SigAltiGPS, and TypeKalman::X.

Referenced by alt_filter_periodic().

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void kalmanEstimation	(	TypeKalman *	k,
		float	accVert
	)

Definition at line 130 of file alt_filter.c.

References TypeKalman::Ad, TypeKalman::Bd, TypeKalman::Md, TypeKalman::P, TypeKalman::W, and TypeKalman::X.

Referenced by alt_filter_periodic().

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void kalmanInit

(

TypeKalman *

k

)

Definition at line 91 of file alt_filter.c.

References TypeKalman::Ad, TypeKalman::Bd, MarcheAleaAccelerometre, MarcheAleaBiaisAltimetre, TypeKalman::Md, TypeKalman::P, TypeKalman::Te, TypeKalman::W, and TypeKalman::X.

Referenced by alt_filter_init().

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Variable Documentation

TypeKalman alt_filter

Definition at line 31 of file alt_filter.c.

float last_baro_alt

Definition at line 47 of file alt_filter.c.

Referenced by alt_filter_init(), and alt_filter_periodic().

float last_gps_alt

Definition at line 46 of file alt_filter.c.

Referenced by alt_filter_init(), and alt_filter_periodic().

float MarcheAleaAccelerometre

Definition at line 37 of file alt_filter.c.

Referenced by alt_filter_init(), and kalmanInit().

float MarcheAleaBiaisAltimetre

Definition at line 36 of file alt_filter.c.

Referenced by alt_filter_init(), and kalmanInit().

float SigAltiAltimetre

Definition at line 35 of file alt_filter.c.

Referenced by alt_filter_init(), and kalmanCorrectionAltimetre().

float SigAltiGPS

Definition at line 34 of file alt_filter.c.

Referenced by alt_filter_init(), and kalmanCorrectionGPS().