dekf.h File Reference

#include <math.h>
#include <HL_interface.h>
#include <ekf/rtwtypes.h>
#include "uart.h"

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Classes
struct	DekfContext
Defines
#define	DEKF_CORRECTION_SMOOTING_LENGTH   100
#define	DEKF_WATCHDOG_TIMEOUT   10
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])

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Define Documentation

#define DEKF_CORRECTION_SMOOTING_LENGTH   100

Definition at line 40 of file dekf.h.

#define DEKF_WATCHDOG_TIMEOUT   10

Definition at line 41 of file dekf.h.

---

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.