dekf.c File Reference

#include "dekf.h"
#include "LL_HL_comm.h"
#include <ekf/autogen_ekf_propagation.h>
#include <ekf/autogen_ekf_propagation_initialize.h>

Include dependency graph for dekf.c:

Go to the source code of this file.

Functions
void	correctState (DekfContext *self)
char	DEKF_getInitializeEvent (DekfContext *self)
void	DEKF_init (DekfContext *self, HLI_EXT_POSITION *pos_ctrl_input)
void	DEKF_sendState (DekfContext *self, int64_t timestamp)
void	DEKF_step (DekfContext *self, int64_t timestamp)
int	float2Int (float x)
	convert float to int with correct rounding
short	float2Short (float x)
	convert float to short with correct rounding
void	initState (DekfContext *self)
void	quaternionMultiplication (const real32_T q1[4], const real32_T q2[4], real32_T q[4])
void	writeControllerOutput (DekfContext *self)
real32_T	yawFromQuaternion (const real32_T q[4])
Variables
const real32_T	DEKF_ASCTEC_ACC_TO_SI = 9.81e-3
const real32_T	DEKF_ASCTEC_OMEGA_TO_SI = 0.015 * M_PI / 180.0

---

Function Documentation

void correctState

(

DekfContext *

self

)

[inline]

Definition at line 179 of file dekf.c.

char DEKF_getInitializeEvent

(

DekfContext *

self

)

Definition at line 271 of file dekf.c.

void DEKF_init	(	DekfContext *	self,
		HLI_EXT_POSITION *	pos_ctrl_input
	)

Definition at line 44 of file dekf.c.

void DEKF_sendState	(	DekfContext *	self,
		int64_t	timestamp
	)

Definition at line 67 of file dekf.c.

void DEKF_step	(	DekfContext *	self,
		int64_t	timestamp
	)

Definition at line 89 of file dekf.c.

int float2Int

(

float

x

)

[inline]

convert float to int with correct rounding

Definition at line 311 of file dekf.c.

short float2Short

(

float

x

)

[inline]

convert float to short with correct rounding

Definition at line 317 of file dekf.c.

void initState

(

DekfContext *

self

)

[inline]

Definition at line 171 of file dekf.c.

void quaternionMultiplication	(	const real32_T	q1[4],
		const real32_T	q2[4],
		real32_T	q[4]
	)		[inline]

Definition at line 303 of file dekf.c.

void writeControllerOutput

(

DekfContext *

self

)

[inline]

Definition at line 226 of file dekf.c.

real32_T yawFromQuaternion

(

const real32_T

q[4]

)

[inline]

Definition at line 276 of file dekf.c.

---

Variable Documentation

const real32_T DEKF_ASCTEC_ACC_TO_SI = 9.81e-3

Definition at line 39 of file dekf.c.

const real32_T DEKF_ASCTEC_OMEGA_TO_SI = 0.015 * M_PI / 180.0

Definition at line 42 of file dekf.c.