kalman.c File Reference

#include "kalman.h"

Include dependency graph for kalman.c:

Go to the source code of this file.

Functions
void	CorrectPos (KalPos *k)
void	CorrectYaw (KalYaw *k)
void	InitKalPos (KalPos *k)
void	InitKalYaw (KalYaw *k)
void	KFilter (void)
void	PredictPos (KalPos *k, float dt)
void	PredictYaw (KalYaw *k, float dt)
void	resetKalmanFilter ()
Variables
float	g_accel_x
float	g_accel_y
float	g_accel_z
float	g_cos_psi
MAV_CTRL_DEBUG_PKT	g_ctrl_debug_pkt
float	g_imu_gravity
MAV_IMU_PKT	g_imu_pkt
uint8_t	g_kf_x_enabled
uint8_t	g_kf_y_enabled
uint8_t	g_kf_yaw_enabled
uint8_t	g_kf_z_enabled
volatile int64_t	g_last_height_pkt_time = 0
MAV_HEIGHT_PKT	g_mav_height_pkt
PacketInfo *	g_mav_height_pkt_info
MAV_KF_CFG_PKT	g_mav_kf_cfg_pkt
MAV_POSE2D_PKT	g_mav_pose2D_pkt
PacketInfo *	g_mav_pose2D_pkt_info
unsigned int	g_sdk_loops
float	g_sin_psi
float	g_vz_p_f = 0

---

Function Documentation

void CorrectPos

(

KalPos *

k

)

Definition at line 101 of file kalman.c.

void CorrectYaw

(

KalYaw *

k

)

Definition at line 135 of file kalman.c.

void InitKalPos

(

KalPos *

k

)

Definition at line 33 of file kalman.c.

void InitKalYaw

(

KalYaw *

k

)

Definition at line 68 of file kalman.c.

void KFilter

(

void

)

Definition at line 149 of file kalman.c.

void PredictPos	(	KalPos *	k,
		float	dt
	)

Definition at line 76 of file kalman.c.

void PredictYaw	(	KalYaw *	k,
		float	dt
	)

Definition at line 126 of file kalman.c.

void resetKalmanFilter

(

void

)

Definition at line 288 of file kalman.c.

---

Variable Documentation

float g_accel_x

Definition at line 10 of file kalman.c.

float g_accel_y

Definition at line 11 of file kalman.c.

float g_accel_z

Definition at line 12 of file kalman.c.

float g_cos_psi

Definition at line 6 of file kalman.c.

MAV_CTRL_DEBUG_PKT g_ctrl_debug_pkt

Definition at line 67 of file sdk.c.

float g_imu_gravity

Definition at line 53 of file main.c.

MAV_IMU_PKT g_imu_pkt

Definition at line 69 of file sdk.c.

uint8_t g_kf_x_enabled

Definition at line 115 of file sdk.c.

uint8_t g_kf_y_enabled

Definition at line 116 of file sdk.c.

uint8_t g_kf_yaw_enabled

Definition at line 118 of file sdk.c.

uint8_t g_kf_z_enabled

Definition at line 117 of file sdk.c.

volatile int64_t g_last_height_pkt_time = 0

Definition at line 4 of file kalman.c.

MAV_HEIGHT_PKT g_mav_height_pkt

Definition at line 101 of file sdk.c.

PacketInfo* g_mav_height_pkt_info

Definition at line 102 of file sdk.c.

MAV_KF_CFG_PKT g_mav_kf_cfg_pkt

Definition at line 104 of file sdk.c.

MAV_POSE2D_PKT g_mav_pose2D_pkt

Definition at line 98 of file sdk.c.

PacketInfo* g_mav_pose2D_pkt_info

Definition at line 99 of file sdk.c.

unsigned int g_sdk_loops

Definition at line 60 of file sdk.c.

float g_sin_psi

Definition at line 7 of file kalman.c.

float g_vz_p_f = 0

Definition at line 8 of file kalman.c.