rosflight_firmware::Estimator Class Reference

#include <estimator.h>

Classes
struct	State

Public Member Functions
	Estimator (ROSflight &_rf)
void	init ()
void	reset_adaptive_bias ()
void	reset_state ()
void	run ()
void	set_attitude_correction (const turbomath::Quaternion &q)
const State &	state () 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_
ROSflight &	RF_
State	state_
turbomath::Vector	w1_
turbomath::Vector	w2_
turbomath::Vector	w_acc_

Detailed Description

Definition at line 46 of file estimator.h.

Constructor & Destructor Documentation

rosflight_firmware::Estimator::Estimator

(

ROSflight &

_rf

)

Definition at line 38 of file estimator.cpp.

Member Function Documentation

void rosflight_firmware::Estimator::init

(

)

Definition at line 92 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 121 of file estimator.cpp.

void rosflight_firmware::Estimator::run_LPF ( )

private

Definition at line 99 of file estimator.cpp.

void rosflight_firmware::Estimator::set_attitude_correction

(

const turbomath::Quaternion &

q

)

Definition at line 115 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 87 of file estimator.h.

bool rosflight_firmware::Estimator::attitude_correction_next_run_

private

Definition at line 92 of file estimator.h.

turbomath::Vector rosflight_firmware::Estimator::bias_

private

Definition at line 85 of file estimator.h.

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

private

Definition at line 74 of file estimator.h.

turbomath::Vector rosflight_firmware::Estimator::gyro_LPF_

private

Definition at line 88 of file estimator.h.

uint64_t rosflight_firmware::Estimator::last_acc_update_us_

private

Definition at line 80 of file estimator.h.

uint64_t rosflight_firmware::Estimator::last_time_

private

Definition at line 79 of file estimator.h.

turbomath::Quaternion rosflight_firmware::Estimator::q_correction_

private

Definition at line 93 of file estimator.h.

ROSflight& rosflight_firmware::Estimator::RF_

private

Definition at line 76 of file estimator.h.

State rosflight_firmware::Estimator::state_

private

Definition at line 77 of file estimator.h.

turbomath::Vector rosflight_firmware::Estimator::w1_

private

Definition at line 82 of file estimator.h.

turbomath::Vector rosflight_firmware::Estimator::w2_

private

Definition at line 83 of file estimator.h.

turbomath::Vector rosflight_firmware::Estimator::w_acc_

private

Definition at line 90 of file estimator.h.

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

• estimator.h
• estimator.cpp