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Paparazzi UAS
v5.18.0_stable
Paparazzi is a free software Unmanned Aircraft System.
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30 #ifndef INS_MEKF_WIND_H
31 #define INS_MEKF_WIND_H
101 #define ins_mekf_wind_update_Q_gyro(_v) { \
102 ins_mekf_wind_params.Q_gyro = _v; \
103 ins_mekf_wind_update_params(); \
106 #define ins_mekf_wind_update_Q_accel(_v) { \
107 ins_mekf_wind_params.Q_accel = _v; \
108 ins_mekf_wind_update_params(); \
111 #define ins_mekf_wind_update_Q_rates_bias(_v) { \
112 ins_mekf_wind_params.Q_rates_bias = _v; \
113 ins_mekf_wind_update_params(); \
116 #define ins_mekf_wind_update_Q_accel_bias(_v) { \
117 ins_mekf_wind_params.Q_accel_bias = _v; \
118 ins_mekf_wind_update_params(); \
121 #define ins_mekf_wind_update_Q_baro_bias(_v) { \
122 ins_mekf_wind_params.Q_baro_bias = _v; \
123 ins_mekf_wind_update_params(); \
126 #define ins_mekf_wind_update_Q_wind(_v) { \
127 ins_mekf_wind_params.Q_wind = _v; \
128 ins_mekf_wind_update_params(); \
131 #define ins_mekf_wind_update_R_speed(_v) { \
132 ins_mekf_wind_params.R_speed = _v; \
133 ins_mekf_wind_update_params(); \
136 #define ins_mekf_wind_update_R_pos(_v) { \
137 ins_mekf_wind_params.R_pos = _v; \
138 ins_mekf_wind_update_params(); \
141 #define ins_mekf_wind_update_R_speed_z(_v) { \
142 ins_mekf_wind_params.R_speed_z = _v; \
143 ins_mekf_wind_update_params(); \
146 #define ins_mekf_wind_update_R_pos_z(_v) { \
147 ins_mekf_wind_params.R_pos_z = _v; \
148 ins_mekf_wind_update_params(); \
151 #define ins_mekf_wind_update_R_mag(_v) { \
152 ins_mekf_wind_params.R_mag = _v; \
153 ins_mekf_wind_update_params(); \
156 #define ins_mekf_wind_update_R_baro(_v) { \
157 ins_mekf_wind_params.R_baro = _v; \
158 ins_mekf_wind_update_params(); \
161 #define ins_mekf_wind_update_R_airspeed(_v) { \
162 ins_mekf_wind_params.R_airspeed = _v; \
163 ins_mekf_wind_update_params(); \
166 #define ins_mekf_wind_update_R_aoa(_v) { \
167 ins_mekf_wind_params.R_aoa = _v; \
168 ins_mekf_wind_update_params(); \
171 #define ins_mekf_wind_update_R_aos(_v) { \
172 ins_mekf_wind_params.R_aos = _v; \
173 ins_mekf_wind_update_params(); \
float Q_baro_bias
baro bias process noise
struct FloatRates ins_mekf_wind_get_body_rates(void)
float R_aos
sideslip angle measurement noise
void ins_mekf_wind_update_mag(struct FloatVect3 *mag, bool attitude_only)
vector in North East Down coordinates Units: meters
void ins_mekf_wind_set_mag_h(const struct FloatVect3 *mag_h)
float R_baro
baro measurement noise
float Q_wind
wind process noise
float R_aoa
angle of attack measurement noise
struct FloatQuat ins_mekf_wind_get_quat(void)
void ins_mekf_wind_set_pos_ned(struct NedCoor_f *p)
float R_pos
pos measurement noise
float ins_mekf_wind_get_airspeed_norm(void)
struct NedCoor_f ins_mekf_wind_get_accel_ned(void)
Paparazzi floating point algebra.
void ins_mekf_wind_update_incidence(float aoa, float aos)
struct FloatVect3 ins_mekf_wind_get_accel_bias(void)
Paparazzi floating point math for geodetic calculations.
struct FloatRates ins_mekf_wind_get_rates_bias(void)
void ins_mekf_wind_propagate(struct FloatRates *gyro, struct FloatVect3 *accel, float dt)
Full INS propagation.
void ins_mekf_wind_update_pos_speed(struct FloatVect3 *pos, struct FloatVect3 *speed)
float R_speed
speed measurement noise
void ins_mekf_wind_set_quat(struct FloatQuat *quat)
void ins_mekf_wind_update_params(void)
float Q_accel
accel process noise
float R_airspeed
airspeed measurement noise
float Q_gyro
gyro process noise
float R_speed_z
vertical speed measurement noise
float Q_rates_bias
rates bias process noise
struct NedCoor_f ins_mekf_wind_get_speed_ned(void)
void ins_mekf_wind_update_baro(float baro_alt)
float ins_mekf_wind_get_baro_bias(void)
float R_mag
mag measurement noise
void ins_mekf_wind_update_airspeed(float airspeed)
void ins_mekf_wind_init(void)
Init function.
void ins_mekf_wind_set_speed_ned(struct NedCoor_f *s)
struct NedCoor_f ins_mekf_wind_get_airspeed_body(void)
void ins_mekf_wind_reset(void)
struct NedCoor_f ins_mekf_wind_get_wind_ned(void)
void ins_mekf_wind_propagate_ahrs(struct FloatRates *gyro, struct FloatVect3 *accel, float dt)
AHRS-only propagation + accel correction.
struct NedCoor_f ins_mekf_wind_get_pos_ned(void)
Getter/Setter functions.
float R_pos_z
vertical pos measurement noise
bool disable_wind
disable wind estimation
void ins_mekf_wind_align(struct FloatRates *gyro_bias, struct FloatQuat *quat)
struct ins_mekf_wind_parameters ins_mekf_wind_params
float Q_accel_bias
accel bias process noise