ekf_range.h

Go to the documentation of this file.

/*
 * Copyright (C) 2018 Gautier Hattenberger <gautier.hattenberger@enac.fr>
 *
 * This file is part of paparazzi
 *
 * paparazzi is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2, or (at your option)
 * any later version.
 *
 * paparazzi is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with paparazzi; see the file COPYING.  If not, see
 * <http://www.gnu.org/licenses/>.
 */
#ifndef EKF_RANGE_H
#define EKF_RANGE_H

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

#define EKF_RANGE_DIM 6

struct EKFRange {
  float state[EKF_RANGE_DIM];             
  float P[EKF_RANGE_DIM][EKF_RANGE_DIM];  
  float Q[EKF_RANGE_DIM][EKF_RANGE_DIM];  
  float R_dist;                           
  float R_speed;                          
  float dt;                               
};

extern void ekf_range_init(struct EKFRange *ekf_range, float P0_pos, float P0_speed, float Q_sigma2, float R_dist, float R_speed, float dt);

extern void ekf_range_set_state(struct EKFRange *ekf_range, struct EnuCoor_f pos, struct EnuCoor_f speed);

extern void ekf_range_get_state(struct EKFRange *ekf_range, struct EnuCoor_f *pos, struct EnuCoor_f *speed);

extern struct EnuCoor_f ekf_range_get_pos(struct EKFRange *ekf_range);

extern struct EnuCoor_f ekf_range_get_speed(struct EKFRange *ekf_range);

extern void ekf_range_update_noise(struct EKFRange *ekf_range, float Q_sigma2, float R_dist, float R_speed);

extern void ekf_range_predict(struct EKFRange *ekf_range);

extern void ekf_range_update_dist(struct EKFRange *ekf_range, float dist, struct EnuCoor_f anchor);

extern void ekf_range_update_speed(struct EKFRange *ekf_range, float speed, uint8_t type);


#endif