dw1000_arduino.h File Reference

#include "std.h"

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Macros
#define	PRIMARY_GPS   GPS_DW1000

Functions
void	dw1000_arduino_update_ekf_q (float v)
	settings handler More...
void	dw1000_arduino_update_ekf_r_dist (float v)
void	dw1000_arduino_update_ekf_r_speed (float v)
void	dw1000_arduino_init (void)
void	dw1000_arduino_periodic (void)
void	dw1000_arduino_report (void)
void	dw1000_arduino_event (void)
void	dw1000_reset_heading_ref (void)
	Reset reference heading to current heading AHRS/INS should be aligned before calling this function. More...

Variables
bool	dw1000_use_ekf
	enable EKF filtering More...
float	dw1000_ekf_q
	process and measurements noise More...
float	dw1000_ekf_r_dist
float	dw1000_ekf_r_speed

Detailed Description

Author

Gautier Hattenberger Driver to get ranging data from Decawave DW1000 modules connected to Arduino

Definition in file dw1000_arduino.h.

Macro Definition Documentation

#define PRIMARY_GPS   GPS_DW1000

Definition at line 55 of file dw1000_arduino.h.

Function Documentation

void dw1000_arduino_event

(

void

)

Definition at line 617 of file dw1000_arduino.c.

References dw1000, dw1000_arduino_parse(), process_data(), uart_char_available(), and uart_getch().

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void dw1000_arduino_init

(

void

)

Definition at line 513 of file dw1000_arduino.c.

References LlaCoor_i::alt, DW1000::anchors, GpsState::cacc, DW1000::ck, GpsState::comp_id, Anchor::distance, dw1000, dw1000_ekf_q, dw1000_ekf_r_dist, dw1000_ekf_r_speed, DW1000_INITIAL_HEADING, DW1000_NB_ANCHORS, DW1000_USE_EKF, dw1000_use_ekf, DW_WAIT_STX, DW1000::ekf_range, ekf_range_init(), DW1000::ekf_running, GpsState::fix, DW1000::gps_dw1000, GPS_DW1000_ID, GPS_FIX_NONE, Anchor::id, ids, DW1000::idx, init_median_filter_f(), DW1000::initial_heading, LlaCoor_i::lat, LlaCoor_i::lon, DW1000::ltp_def, ltp_def_from_lla_i(), DW1000::mf, GpsState::pacc, GpsState::pdop, Anchor::pos, DW1000::pos, pos_x, pos_y, pos_z, DW1000::raw_dist, GpsState::sacc, DW1000::speed, DW1000::state, Anchor::time, trilateration_init(), Anchor::updated, DW1000::updated, EnuCoor_f::x, EnuCoor_f::y, and EnuCoor_f::z.

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void dw1000_arduino_periodic

(

void

)

Definition at line 568 of file dw1000_arduino.c.

References dw1000, dw1000_use_ekf, DW1000::ekf_range, ekf_range_get_pos(), ekf_range_get_speed(), ekf_range_predict(), DW1000::ekf_running, DW1000::gps_dw1000, gps_periodic_check(), log_started, DW1000::pos, pprzLogFile, process_data(), and DW1000::speed.

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void dw1000_arduino_report

(

void

)

Definition at line 599 of file dw1000_arduino.c.

References DW1000::anchors, DefaultChannel, DefaultDevice, Anchor::distance, dw1000, DW1000::pos, DW1000::raw_dist, DW1000::speed, EnuCoor_f::x, EnuCoor_f::y, and EnuCoor_f::z.

void dw1000_arduino_update_ekf_q

(

float

v

)

settings handler

Definition at line 630 of file dw1000_arduino.c.

References dw1000, dw1000_ekf_q, dw1000_ekf_r_dist, dw1000_ekf_r_speed, DW1000::ekf_range, and ekf_range_update_noise().

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void dw1000_arduino_update_ekf_r_dist

(

float

v

)

Definition at line 636 of file dw1000_arduino.c.

References dw1000, dw1000_ekf_q, dw1000_ekf_r_dist, dw1000_ekf_r_speed, DW1000::ekf_range, and ekf_range_update_noise().

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void dw1000_arduino_update_ekf_r_speed

(

float

v

)

Definition at line 642 of file dw1000_arduino.c.

References dw1000, dw1000_ekf_q, dw1000_ekf_r_dist, dw1000_ekf_r_speed, DW1000::ekf_range, and ekf_range_update_noise().

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void dw1000_reset_heading_ref

(

void

)

Reset reference heading to current heading AHRS/INS should be aligned before calling this function.

Definition at line 463 of file dw1000_arduino.c.

References dw1000, DW1000::initial_heading, FloatEulers::psi, and stateGetNedToBodyEulers_f().

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Variable Documentation

float dw1000_ekf_q

process and measurements noise

Definition at line 190 of file dw1000_arduino.c.

Referenced by dw1000_arduino_init(), dw1000_arduino_update_ekf_q(), dw1000_arduino_update_ekf_r_dist(), and dw1000_arduino_update_ekf_r_speed().

float dw1000_ekf_r_dist

Definition at line 191 of file dw1000_arduino.c.

Referenced by dw1000_arduino_init(), dw1000_arduino_update_ekf_q(), dw1000_arduino_update_ekf_r_dist(), and dw1000_arduino_update_ekf_r_speed().

float dw1000_ekf_r_speed

Definition at line 192 of file dw1000_arduino.c.

Referenced by dw1000_arduino_init(), dw1000_arduino_update_ekf_q(), dw1000_arduino_update_ekf_r_dist(), and dw1000_arduino_update_ekf_r_speed().

bool dw1000_use_ekf

enable EKF filtering

Definition at line 189 of file dw1000_arduino.c.

Referenced by check_and_compute_data(), dw1000_arduino_init(), and dw1000_arduino_periodic().