wind_estimator.h File Reference

Wind Estimator based on generated library from Matlab. More...

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

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Data Structures
struct	WindEstimator

Functions
void	wind_estimator_init (void)
void	wind_estimator_periodic (void)
void	wind_estimator_event (void)
void	wind_estimator_Set_R_GS (float _v)
void	wind_estimator_Set_R_VA (float _v)
void	wind_estimator_Set_R_AOA (float _v)
void	wind_estimator_Set_R_SSA (float _v)
void	wind_estimator_Set_Q_VA (float _v)
void	wind_estimator_Set_Q_WIND (float _v)
void	wind_estimator_Set_Q_VA_SCALE (float _v)

Variables
struct WindEstimator	wind_estimator

Detailed Description

Wind Estimator based on generated library from Matlab.

Original Simulink files available at https://github.com/enacuavlab/UKF_Wind_Estimation

Definition in file wind_estimator.h.

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Data Structure Documentation

struct WindEstimator

Definition at line 35 of file wind_estimator.h.

Collaboration diagram for WindEstimator:

Data Fields
struct FloatVect3	airspeed	airspeed vector in body frame
bool	data_available	new data available
float	q_va	noise associated to airspeed vector model
float	q_va_scale	noise associated to airspeed scale factor model
float	q_wind	noise associated to wind vector model
float	r_aoa	noise associated to angle of attack measurement
float	r_gs	noise associated to ground speed measurement
float	r_ssa	noise associated to sideslip angle measurement
float	r_va	noise associated to airspeed norm measurement
bool	reset	reset filter flag
struct FloatVect3	wind	wind vector in NED frame

Function Documentation

void wind_estimator_event

(

void

)

Definition at line 412 of file wind_estimator.c.

References WindEstimator::data_available, DefaultChannel, DefaultDevice, send_wind_estimator(), stateSetHorizontalWindspeed_f(), stateSetVerticalWindspeed_f(), WindEstimator::wind, wind_estimator, FloatVect3::x, FloatVect3::y, and FloatVect3::z.

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void wind_estimator_init

(

void

)

Definition at line 465 of file wind_estimator.c.

References counter, DefaultPeriodic, init_calculator(), pprzLogFile, register_periodic_telemetry(), send_wind_estimator(), and thd_windestimate().

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void wind_estimator_periodic

(

void

)

Definition at line 292 of file wind_estimator.c.

References ExtU::accel, Imu::accel, ACCEL_FLOAT_OF_BFP, ExtU::aoa, DefaultChannel, DefaultDevice, ukf_params_tag::dt, float_rmat_vmult(), get_sys_time_msec(), imu, init_calculator(), msg, FloatRates::p, FloatEulers::phi, ExtU::q, FloatRates::q, FloatQuat::qi, FloatQuat::qx, FloatQuat::qy, FloatQuat::qz, FloatRates::r, ExtU::rates, WindEstimator::reset, ExtU::sideslip, stateGetAccelNed_f(), stateGetAirspeed_f(), stateGetAngleOfAttack_f(), stateGetBodyRates_f(), stateGetNedToBodyEulers_f(), stateGetNedToBodyQuat_f(), stateGetNedToBodyRMat_f(), stateGetSideslip_f(), stateGetSpeedNed_f(), FloatEulers::theta, time_step_before, ukf_params, ukf_U, ExtU::va, VECT3_ADD, ExtU::vk, wind_estimator, wind_estimator_step(), FloatVect3::x, NedCoor_f::x, Int32Vect3::x, FloatVect3::y, NedCoor_f::y, Int32Vect3::y, FloatVect3::z, NedCoor_f::z, and Int32Vect3::z.

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void wind_estimator_Set_Q_VA

(

float

_v

)

Definition at line 529 of file wind_estimator.c.

References MAT_EL, ukf_params_tag::Q, WindEstimator::q_va, ukf_params, and wind_estimator.

void wind_estimator_Set_Q_VA_SCALE

(

float

_v

)

Definition at line 545 of file wind_estimator.c.

References MAT_EL, ukf_params_tag::Q, WindEstimator::q_va_scale, ukf_params, and wind_estimator.

void wind_estimator_Set_Q_WIND

(

float

_v

)

Definition at line 537 of file wind_estimator.c.

References MAT_EL, ukf_params_tag::Q, WindEstimator::q_wind, ukf_params, and wind_estimator.

void wind_estimator_Set_R_AOA

(

float

_v

)

Definition at line 517 of file wind_estimator.c.

References MAT_EL, ukf_params_tag::R, WindEstimator::r_aoa, ukf_params, and wind_estimator.

void wind_estimator_Set_R_GS

(

float

_v

)

Definition at line 503 of file wind_estimator.c.

References MAT_EL, ukf_params_tag::R, WindEstimator::r_gs, ukf_params, and wind_estimator.

void wind_estimator_Set_R_SSA

(

float

_v

)

Definition at line 523 of file wind_estimator.c.

References MAT_EL, ukf_params_tag::R, WindEstimator::r_ssa, ukf_params, and wind_estimator.

void wind_estimator_Set_R_VA

(

float

_v

)

Definition at line 511 of file wind_estimator.c.

References MAT_EL, ukf_params_tag::R, WindEstimator::r_va, ukf_params, and wind_estimator.

Variable Documentation

struct WindEstimator wind_estimator

Definition at line 125 of file wind_estimator.c.

Referenced by init_calculator(), send_wind_estimator(), wind_estimator_event(), wind_estimator_periodic(), wind_estimator_Set_Q_VA(), wind_estimator_Set_Q_VA_SCALE(), wind_estimator_Set_Q_WIND(), wind_estimator_Set_R_AOA(), wind_estimator_Set_R_GS(), wind_estimator_Set_R_SSA(), wind_estimator_Set_R_VA(), and wind_estimator_step().