ins_alt_float.h File Reference

Filters altitude and climb rate for fixedwings. More...

#include "subsystems/ins.h"
#include <inttypes.h>
#include "std.h"

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Data Structures
struct	InsAltFloat
	Ins implementation state (altitude, float) More...

Functions
void	ins_alt_float_init (void)
void	ins_alt_float_update_baro (float pressure)

Variables
struct InsAltFloat	ins_altf

Detailed Description

Filters altitude and climb rate for fixedwings.

Definition in file ins_alt_float.h.

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Data Structure Documentation

struct InsAltFloat

Ins implementation state (altitude, float)

Definition at line 37 of file ins_alt_float.h.

Data Fields
float	alt	estimated altitude above MSL in meters
float	alt_dot	estimated vertical speed in m/s (positive-up)
float	baro_alt
bool	baro_initialized
bool	origin_initialized	TRUE if UTM origin was initialized.
float	qfe
bool	reset_alt_ref	flag to request reset of altitude reference to current alt

Function Documentation

void ins_alt_float_init

(

void

)

Definition at line 101 of file ins_alt_float.c.

References accel_cb(), alt_kalman(), alt_kalman_init(), InsAltFloat::baro_alt, baro_cb(), InsAltFloat::baro_initialized, body_to_imu, body_to_imu_cb(), gps_cb(), ground_alt, INS_ALT_BARO_ID, INS_ALT_GPS_ID, INS_ALT_IMU_ID, ins_altf, nav_utm_east0, nav_utm_north0, nav_utm_zone0, orientationSetEulers_i(), InsAltFloat::origin_initialized, InsAltFloat::qfe, InsAltFloat::reset_alt_ref, stateSetLocalUtmOrigin_f(), and stateSetPositionUtm_f().

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void ins_alt_float_update_baro

(

float

pressure

)

Definition at line 165 of file ins_alt_float.c.

References InsAltFloat::alt, UtmCoor_f::alt, InsAltFloat::alt_dot, alt_kalman(), alt_kalman_reset(), InsAltFloat::baro_alt, InsAltFloat::baro_initialized, get_sys_time_usec(), ground_alt, ins_altf, last_ts, pprz_isa_height_of_pressure(), InsAltFloat::qfe, InsAltFloat::reset_alt_ref, stateGetPositionUtm_f(), stateGetSpeedNed_f(), stateSetPositionUtm_f(), stateSetSpeedNed_f(), and UTM_COPY.

Referenced by baro_cb().

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Variable Documentation

struct InsAltFloat ins_altf

Definition at line 53 of file ins_alt_float.c.

Referenced by alt_kalman(), ins_alt_float_init(), ins_alt_float_update_baro(), ins_alt_float_update_gps(), ins_reset_altitude_ref(), and ins_reset_local_origin().