Classes | Defines | Functions
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])

Define Documentation

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.

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.



asctec_hl_firmware
Author(s): Markus Achtelik, Michael Achtelik, Stephan Weiss, Laurent Kneip
autogenerated on Tue Dec 17 2013 11:39:27