hf_float.h File Reference

Horizontal filter (x,y) to estimate position and velocity. More...

#include "std.h"
#include "math/pprz_algebra_float.h"
#include "generated/airframe.h"

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Data Structures
struct	HfilterFloat

Macros
#define	HFF_STATE_SIZE   2

Functions
void	b2_hff_init (float init_x, float init_xdot, float init_y, float init_ydot)
void	b2_hff_propagate (void)
void	b2_hff_update_gps (struct FloatVect2 *pos_ned, struct FloatVect2 *speed_ned)
void	b2_hff_update_pos (struct FloatVect2 pos, struct FloatVect2 Rpos)
void	b2_hff_update_vel (struct FloatVect2 vel, struct FloatVect2 Rvel)
void	b2_hff_realign (struct FloatVect2 pos, struct FloatVect2 vel)

Variables
struct HfilterFloat	b2_hff_state

Detailed Description

Horizontal filter (x,y) to estimate position and velocity.

Definition in file hf_float.h.

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Data Structure Documentation

struct HfilterFloat

Definition at line 38 of file hf_float.h.

Data Fields
uint16_t	lag_counter
bool	rollback
float	x
float	xdot
float	xdotdot
float	xP[HFF_STATE_SIZE][HFF_STATE_SIZE]
float	y
float	ydot
float	ydotdot
float	yP[HFF_STATE_SIZE][HFF_STATE_SIZE]

Macro Definition Documentation

#define HFF_STATE_SIZE   2

Definition at line 36 of file hf_float.h.

Referenced by b2_hff_init_x(), and b2_hff_init_y().

Function Documentation

void b2_hff_init	(	float	init_x,
		float	init_xdot,
		float	init_y,
		float	init_ydot
	)

Definition at line 268 of file hf_float.c.

References AHRS_PROPAGATE_FREQUENCY, b2_hff_init_x(), b2_hff_init_y(), b2_hff_lost_counter, b2_hff_lost_limit, b2_hff_ps_counter, b2_hff_rb_n, b2_hff_state, DefaultPeriodic, DT_HFILTER, HFF_LOST_LIMIT, HFF_LOWPASS_CUTOFF_FREQUENCY, HFF_R_POS, HFF_R_SPEED, init_butterworth_2_low_pass_int(), HfilterFloat::lag_counter, lag_counter_err, past_save_counter, register_periodic_telemetry(), Rgps_pos, Rgps_vel, HfilterFloat::rollback, save_counter, SAVE_DONE, send_hff(), and send_hff_debug().

Referenced by ins_int_init().

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void b2_hff_propagate

(

void

)

Definition at line 470 of file hf_float.c.

References Imu::accel, ACCEL_FLOAT_OF_BFP, b2_hff_lost_counter, b2_hff_lost_limit, b2_hff_propagate_x(), b2_hff_propagate_y(), b2_hff_ps_counter, b2_hff_rb_n, b2_hff_state, b2_hff_xdd_meas, b2_hff_ydd_meas, Imu::body_to_imu, DT_HFILTER, imu, int32_rmat_transp_vmult(), HfilterFloat::lag_counter, orientationGetRMat_i(), PRINT_DBG, HfilterFloat::rollback, save_counter, stateGetNedToBodyRMat_i(), update_butterworth_2_low_pass_int(), Int32Vect3::x, Int32Vect3::y, and Int32Vect3::z.

Referenced by ins_int_propagate().

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void b2_hff_realign	(	struct FloatVect2	pos,
		struct FloatVect2	vel
	)

Definition at line 594 of file hf_float.c.

References b2_hff_rb_n, b2_hff_state, past_save_counter, save_counter, SAVE_DONE, HfilterFloat::x, FloatVect2::x, HfilterFloat::xdot, HfilterFloat::y, FloatVect2::y, and HfilterFloat::ydot.

Referenced by ins_int_update_gps().

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void b2_hff_update_gps	(	struct FloatVect2 *	pos_ned,
		struct FloatVect2 *	speed_ned
	)

Definition at line 532 of file hf_float.c.

References b2_hff_lost_counter, b2_hff_rb_n, b2_hff_state, b2_hff_update_gps(), b2_hff_update_x(), b2_hff_update_xdot(), b2_hff_update_y(), b2_hff_update_ydot(), gps, HFF_R_POS_MIN, HFF_R_SPEED_MIN, if(), HfilterFloat::lag_counter, lag_counter_err, GpsState::pacc, past_save_counter, PRINT_DBG, Rgps_pos, Rgps_vel, HfilterFloat::rollback, GpsState::sacc, save_counter, FloatVect2::x, and FloatVect2::y.

Referenced by b2_hff_update_gps(), and ins_int_update_gps().

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void b2_hff_update_pos	(	struct FloatVect2	pos,
		struct FloatVect2	Rpos
	)

Definition at line 685 of file hf_float.c.

References b2_hff_state, b2_hff_update_x(), b2_hff_update_y(), FloatVect2::x, and FloatVect2::y.

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void b2_hff_update_vel	(	struct FloatVect2	vel,
		struct FloatVect2	Rvel
	)

Definition at line 757 of file hf_float.c.

References b2_hff_state, b2_hff_update_xdot(), b2_hff_update_ydot(), FloatVect2::x, and FloatVect2::y.

Referenced by vel_est_cb().

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Variable Documentation

struct HfilterFloat b2_hff_state

Definition at line 120 of file hf_float.c.

Referenced by b2_hff_init(), b2_hff_init_x(), b2_hff_init_y(), b2_hff_propagate(), b2_hff_realign(), b2_hff_update_gps(), b2_hff_update_pos(), b2_hff_update_vel(), send_hff(), and send_hff_debug().