Classes | Public Member Functions | Private Member Functions | Private Attributes | List of all members
rosflight_firmware::Estimator Class Reference

#include <estimator.h>

Inheritance diagram for rosflight_firmware::Estimator:
Inheritance graph
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Classes

struct  State
 

Public Member Functions

const turbomath::VectoraccLPF ()
 
const turbomath::Vectorbias ()
 
 Estimator (ROSflight &_rf)
 
const turbomath::VectorgyroLPF ()
 
void init ()
 
void param_change_callback (uint16_t param_id) override
 
void reset_adaptive_bias ()
 
void reset_state ()
 
void run ()
 
void set_attitude_correction (const turbomath::Quaternion &q)
 
const Statestate () const
 

Private Member Functions

void run_LPF ()
 

Private Attributes

turbomath::Vector accel_LPF_
 
bool attitude_correction_next_run_
 
turbomath::Vector bias_
 
const turbomath::Vector g_ = {0.0f, 0.0f, -1.0f}
 
turbomath::Vector gyro_LPF_
 
uint64_t last_acc_update_us_
 
uint64_t last_time_
 
turbomath::Quaternion q_correction_
 
ROSflightRF_
 
State state_
 
turbomath::Vector w1_
 
turbomath::Vector w2_
 
turbomath::Vector w_acc_
 

Detailed Description

Definition at line 48 of file estimator.h.

Constructor & Destructor Documentation

rosflight_firmware::Estimator::Estimator ( ROSflight _rf)

Definition at line 38 of file estimator.cpp.

Member Function Documentation

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

Definition at line 71 of file estimator.h.

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

Definition at line 66 of file estimator.h.

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

Definition at line 76 of file estimator.h.

void rosflight_firmware::Estimator::init ( )

Definition at line 92 of file estimator.cpp.

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

Implements rosflight_firmware::ParamListenerInterface.

Definition at line 99 of file estimator.cpp.

void rosflight_firmware::Estimator::reset_adaptive_bias ( )

Definition at line 85 of file estimator.cpp.

void rosflight_firmware::Estimator::reset_state ( )

Definition at line 42 of file estimator.cpp.

void rosflight_firmware::Estimator::run ( )

Definition at line 126 of file estimator.cpp.

void rosflight_firmware::Estimator::run_LPF ( )
private

Definition at line 104 of file estimator.cpp.

void rosflight_firmware::Estimator::set_attitude_correction ( const turbomath::Quaternion q)

Definition at line 120 of file estimator.cpp.

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

Definition at line 64 of file estimator.h.

Member Data Documentation

turbomath::Vector rosflight_firmware::Estimator::accel_LPF_
private

Definition at line 102 of file estimator.h.

bool rosflight_firmware::Estimator::attitude_correction_next_run_
private

Definition at line 107 of file estimator.h.

turbomath::Vector rosflight_firmware::Estimator::bias_
private

Definition at line 100 of file estimator.h.

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

Definition at line 89 of file estimator.h.

turbomath::Vector rosflight_firmware::Estimator::gyro_LPF_
private

Definition at line 103 of file estimator.h.

uint64_t rosflight_firmware::Estimator::last_acc_update_us_
private

Definition at line 95 of file estimator.h.

uint64_t rosflight_firmware::Estimator::last_time_
private

Definition at line 94 of file estimator.h.

turbomath::Quaternion rosflight_firmware::Estimator::q_correction_
private

Definition at line 108 of file estimator.h.

ROSflight& rosflight_firmware::Estimator::RF_
private

Definition at line 91 of file estimator.h.

State rosflight_firmware::Estimator::state_
private

Definition at line 92 of file estimator.h.

turbomath::Vector rosflight_firmware::Estimator::w1_
private

Definition at line 97 of file estimator.h.

turbomath::Vector rosflight_firmware::Estimator::w2_
private

Definition at line 98 of file estimator.h.

turbomath::Vector rosflight_firmware::Estimator::w_acc_
private

Definition at line 105 of file estimator.h.


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


rosflight_firmware
Author(s): Daniel Koch , James Jackson
autogenerated on Mon Jan 13 2020 19:50:06