vf_float.c File Reference

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

#include "subsystems/ins/vf_float.h"
#include "generated/airframe.h"
#include "std.h"
#include "subsystems/datalink/telemetry.h"

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Macros
#define	VFF_INIT_PXX   1.0
	initial error covariance diagonal More...
#define	VFF_ACCEL_NOISE   0.5
	process noise covariance Q More...
#define	VFF_MEAS_NOISE   1.0
	measurement noise covariance R More...
#define	Qbiasbias   1e-7

Functions
static void	send_vff (struct transport_tx *trans, struct link_device *dev)
void	vff_init_zero (void)
void	vff_init (float init_z, float init_zdot, float init_bias)
void	vff_propagate (float accel, float dt)
	Propagate the filter in time. More...
static void	update_z_conf (float z_meas, float conf)
	Update altitude. More...
void	vff_update (float z_meas)
void	vff_update_z_conf (float z_meas, float conf)
static void	update_vz_conf (float vz, 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.

X = [ z zdot bias ]

Definition in file vf_float.c.

Macro Definition Documentation

#define Qbiasbias   1e-7

Definition at line 51 of file vf_float.c.

Referenced by vff_propagate().

#define VFF_ACCEL_NOISE   0.5

process noise covariance Q

Definition at line 42 of file vf_float.c.

Referenced by vff_propagate().

#define VFF_INIT_PXX   1.0

initial error covariance diagonal

Definition at line 37 of file vf_float.c.

Referenced by vff_init().

#define VFF_MEAS_NOISE   1.0

measurement noise covariance R

Definition at line 47 of file vf_float.c.

Referenced by vff_update().

Function Documentation

static void send_vff ( struct transport_tx *  trans, struct link_device *  dev  )

static

Definition at line 58 of file vf_float.c.

References Vff::bias, Vff::P, vff, Vff::z, Vff::z_meas, and Vff::zdot.

Referenced by vff_init().

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static void update_vz_conf ( float  vz, float  conf  )

inlinestatic

Definition at line 215 of file vf_float.c.

References Vff::bias, Vff::P, vff, Vff::z, and Vff::zdot.

Referenced by vff_update_vz_conf().

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static void update_z_conf ( float  z_meas, float  conf  )

inlinestatic

Update altitude.

H = [1 0 0]; R = 0.1; // state residual y = rangemeter - H * Xm; // covariance residual S = H*Pm*H' + R; // kalman gain K = Pm*H'*inv(S); // update state Xp = Xm + K*y; // update covariance Pp = Pm - K*H*Pm;

Definition at line 153 of file vf_float.c.

References Vff::bias, Vff::P, vff, Vff::z, Vff::z_meas, and Vff::zdot.

Referenced by vff_update(), and vff_update_z_conf().

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void vff_init	(	float	init_z,
		float	init_zdot,
		float	init_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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void vff_init_zero

(

void

)

Definition at line 66 of file vf_float.c.

References vff_init().

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void vff_propagate	(	float	accel,
		float	dt
	)

Propagate the filter in time.

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 108 of file vf_float.c.

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

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void vff_realign

(

float

z_meas

)

Definition at line 256 of file vf_float.c.

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

void vff_update

(

float

z_meas

)

Definition at line 189 of file vf_float.c.

References update_z_conf(), and VFF_MEAS_NOISE.

Referenced by baro_cb().

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void vff_update_vz_conf	(	float	vz_meas,
		float	conf
	)

Definition at line 249 of file vf_float.c.

References update_vz_conf().

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void vff_update_z_conf	(	float	z_meas,
		float	conf
	)

Definition at line 194 of file vf_float.c.

References update_alt_conf(), and update_z_conf().

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Variable Documentation

struct Vff vff

Definition at line 53 of file vf_float.c.

Referenced by send_vff(), update_vz_conf(), update_z_conf(), vff_init(), vff_propagate(), and vff_realign().