#include <estimator.h>

Inheritance diagram for rosflight_firmware::Estimator:

Classes
struct	State

Public Member Functions
const turbomath::Vector &	accLPF ()

const turbomath::Vector &	bias ()

	Estimator (ROSflight &_rf)

const turbomath::Vector &	gyroLPF ()

void	init ()

void	param_change_callback (uint16_t param_id) override

void	reset_adaptive_bias ()

void	reset_state ()

void	run ()

void	set_external_attitude_update (const turbomath::Quaternion &q)

const State &	state () const

Private Member Functions
turbomath::Vector	accel_correction () const

bool	can_use_accel () const

bool	can_use_extatt () const

turbomath::Vector	extatt_correction () const

void	integrate_angular_rate (turbomath::Quaternion &quat, const turbomath::Vector &omega, const float dt) const

void	quaternion_to_dcm (const turbomath::Quaternion &q, turbomath::Vector &X, turbomath::Vector &Y, turbomath::Vector &Z) const

void	run_LPF ()

turbomath::Vector	smoothed_gyro_measurement ()

Private Attributes
turbomath::Vector	accel_LPF_

turbomath::Vector	bias_

bool	extatt_update_next_run_

const turbomath::Vector	g_ = {0.0f, 0.0f, -1.0f}

turbomath::Vector	gyro_LPF_

uint64_t	last_acc_update_us_

uint64_t	last_extatt_update_us_

uint64_t	last_time_

turbomath::Quaternion	q_extatt_

ROSflight &	RF_

State	state_

turbomath::Vector	w1_

turbomath::Vector	w2_

turbomath::Vector	w_acc_

Detailed Description

Definition at line 47 of file estimator.h.

Constructor & Destructor Documentation

rosflight_firmware::Estimator::Estimator ( ROSflight & _rf )

Definition at line 38 of file estimator.cpp.

Member Function Documentation

turbomath::Vector rosflight_firmware::Estimator::accel_correction ( ) const

private

Definition at line 270 of file estimator.cpp.

const turbomath::Vector& rosflight_firmware::Estimator::accLPF ( )

inline

Definition at line 66 of file estimator.h.

const turbomath::Vector& rosflight_firmware::Estimator::bias ( )

inline

Definition at line 64 of file estimator.h.

bool rosflight_firmware::Estimator::can_use_accel ( ) const

private

Definition at line 242 of file estimator.cpp.

bool rosflight_firmware::Estimator::can_use_extatt ( ) const

private

Definition at line 265 of file estimator.cpp.

turbomath::Vector rosflight_firmware::Estimator::extatt_correction ( ) const

private

Definition at line 293 of file estimator.cpp.

const turbomath::Vector& rosflight_firmware::Estimator::gyroLPF ( )

inline

Definition at line 68 of file estimator.h.

void rosflight_firmware::Estimator::init ( )

Definition at line 90 of file estimator.cpp.

void rosflight_firmware::Estimator::integrate_angular_rate	(	turbomath::Quaternion &	quat,
		const turbomath::Vector &	omega,
		const float	dt
	)		const

private

Definition at line 335 of file estimator.cpp.

void rosflight_firmware::Estimator::param_change_callback ( uint16_t param_id )

overridevirtual

Implements rosflight_firmware::ParamListenerInterface.

Definition at line 98 of file estimator.cpp.

void rosflight_firmware::Estimator::quaternion_to_dcm	(	const turbomath::Quaternion &	q,
		turbomath::Vector &	X,
		turbomath::Vector &	Y,
		turbomath::Vector &	Z
	)		const

private

Definition at line 378 of file estimator.cpp.

void rosflight_firmware::Estimator::reset_adaptive_bias ( )

Definition at line 83 of file estimator.cpp.

void rosflight_firmware::Estimator::reset_state ( )

Definition at line 40 of file estimator.cpp.

void rosflight_firmware::Estimator::run ( )

Definition at line 125 of file estimator.cpp.

void rosflight_firmware::Estimator::run_LPF ( )

private

Definition at line 103 of file estimator.cpp.

void rosflight_firmware::Estimator::set_external_attitude_update ( const turbomath::Quaternion & q )

Definition at line 119 of file estimator.cpp.

turbomath::Vector rosflight_firmware::Estimator::smoothed_gyro_measurement ( )

private

Definition at line 316 of file estimator.cpp.

const State& rosflight_firmware::Estimator::state ( ) const

inline

Definition at line 62 of file estimator.h.

Member Data Documentation

turbomath::Vector rosflight_firmware::Estimator::accel_LPF_

private

Definition at line 92 of file estimator.h.

turbomath::Vector rosflight_firmware::Estimator::bias_

private

Definition at line 90 of file estimator.h.

bool rosflight_firmware::Estimator::extatt_update_next_run_

private

Definition at line 97 of file estimator.h.

const turbomath::Vector rosflight_firmware::Estimator::g_ = {0.0f, 0.0f, -1.0f}

private

Definition at line 78 of file estimator.h.

turbomath::Vector rosflight_firmware::Estimator::gyro_LPF_

private

Definition at line 93 of file estimator.h.

uint64_t rosflight_firmware::Estimator::last_acc_update_us_

private

Definition at line 84 of file estimator.h.

uint64_t rosflight_firmware::Estimator::last_extatt_update_us_

private

Definition at line 85 of file estimator.h.

uint64_t rosflight_firmware::Estimator::last_time_

private

Definition at line 83 of file estimator.h.

turbomath::Quaternion rosflight_firmware::Estimator::q_extatt_

private

Definition at line 98 of file estimator.h.

ROSflight& rosflight_firmware::Estimator::RF_

private

Definition at line 80 of file estimator.h.

State rosflight_firmware::Estimator::state_

private

Definition at line 81 of file estimator.h.

turbomath::Vector rosflight_firmware::Estimator::w1_

private

Definition at line 87 of file estimator.h.

turbomath::Vector rosflight_firmware::Estimator::w2_

private

Definition at line 88 of file estimator.h.

turbomath::Vector rosflight_firmware::Estimator::w_acc_

private

Definition at line 95 of file estimator.h.

The documentation for this class was generated from the following files:

Classes

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation