AP_NavEKF2_core.h File Reference

#include <AP_Math/AP_Math.h>
#include "AP_NavEKF2.h"
#include <stdio.h>
#include <AP_Math/vectorN.h>
#include <AP_NavEKF2/AP_NavEKF2_Buffer.h>

Include dependency graph for AP_NavEKF2_core.h:

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Classes
class	NavEKF2_core
struct	NavEKF2_core::state_elements
struct	NavEKF2_core::output_elements
struct	NavEKF2_core::imu_elements
struct	NavEKF2_core::gps_elements
struct	NavEKF2_core::mag_elements
struct	NavEKF2_core::baro_elements
struct	NavEKF2_core::range_elements
struct	NavEKF2_core::rng_bcn_elements
struct	NavEKF2_core::tas_elements
struct	NavEKF2_core::of_elements
struct	NavEKF2_core::ext_nav_elements

Macros
#define	EK2_DISABLE_INTERRUPTS   0
#define	MASK_GPS_NSATS   (1<<0)
#define	MASK_GPS_HDOP   (1<<1)
#define	MASK_GPS_SPD_ERR   (1<<2)
#define	MASK_GPS_POS_ERR   (1<<3)
#define	MASK_GPS_YAW_ERR   (1<<4)
#define	MASK_GPS_POS_DRIFT   (1<<5)
#define	MASK_GPS_VERT_SPD   (1<<6)
#define	MASK_GPS_HORIZ_SPD   (1<<7)
#define	HGT_SOURCE_BARO   0
#define	HGT_SOURCE_RNG   1
#define	HGT_SOURCE_GPS   2
#define	HGT_SOURCE_BCN   3
#define	HGT_SOURCE_EV   4
#define	EKF_TARGET_DT   0.01f
#define	EKF2_MAG_FINAL_RESET_ALT   2.5f

Macro Definition Documentation

EK2_DISABLE_INTERRUPTS

#define EK2_DISABLE_INTERRUPTS   0

Definition at line 25 of file AP_NavEKF2_core.h.

EKF2_MAG_FINAL_RESET_ALT

#define EKF2_MAG_FINAL_RESET_ALT   2.5f

Definition at line 55 of file AP_NavEKF2_core.h.

Referenced by NavEKF2_core::controlMagYawReset().

EKF_TARGET_DT

#define EKF_TARGET_DT   0.01f

Definition at line 52 of file AP_NavEKF2_core.h.

Referenced by NavEKF3::InitialiseFilter(), NavEKF2::InitialiseFilter(), NavEKF2_core::InitialiseVariables(), NavEKF3_core::InitialiseVariables(), NavEKF2_core::readIMUData(), NavEKF3_core::readIMUData(), NavEKF3_core::SelectBodyOdomFusion(), and NavEKF3_core::setup_core().

HGT_SOURCE_BARO

#define HGT_SOURCE_BARO   0

Definition at line 45 of file AP_NavEKF2_core.h.

Referenced by NavEKF2_core::correctEkfOriginHeight(), NavEKF3_core::correctEkfOriginHeight(), NavEKF2_core::FuseVelPosNED(), NavEKF3_core::FuseVelPosNED(), NavEKF2_core::selectHeightForFusion(), and NavEKF3_core::selectHeightForFusion().

HGT_SOURCE_BCN

#define HGT_SOURCE_BCN   3

Definition at line 48 of file AP_NavEKF2_core.h.

Referenced by NavEKF2_core::FuseRngBcn(), NavEKF3_core::FuseRngBcn(), NavEKF2_core::FuseRngBcnStatic(), NavEKF3_core::FuseRngBcnStatic(), NavEKF2_core::selectHeightForFusion(), and NavEKF3_core::selectHeightForFusion().

HGT_SOURCE_EV

#define HGT_SOURCE_EV   4

Definition at line 49 of file AP_NavEKF2_core.h.

Referenced by NavEKF2_core::selectHeightForFusion(), and NavEKF2_core::SelectVelPosFusion().

HGT_SOURCE_GPS

#define HGT_SOURCE_GPS   2

Definition at line 47 of file AP_NavEKF2_core.h.

Referenced by NavEKF2_core::selectHeightForFusion(), NavEKF3_core::selectHeightForFusion(), NavEKF2_core::SelectVelPosFusion(), and NavEKF3_core::SelectVelPosFusion().

HGT_SOURCE_RNG

#define HGT_SOURCE_RNG   1

Definition at line 46 of file AP_NavEKF2_core.h.

Referenced by NavEKF2_core::correctEkfOriginHeight(), NavEKF3_core::correctEkfOriginHeight(), NavEKF2_core::EstimateTerrainOffset(), NavEKF3_core::EstimateTerrainOffset(), NavEKF2_core::resetHeightDatum(), NavEKF3_core::resetHeightDatum(), NavEKF2_core::SelectFlowFusion(), NavEKF3_core::SelectFlowFusion(), NavEKF2_core::selectHeightForFusion(), NavEKF3_core::selectHeightForFusion(), NavEKF2_core::send_status_report(), and NavEKF3_core::send_status_report().

MASK_GPS_HDOP

#define MASK_GPS_HDOP   (1<<1)

Definition at line 36 of file AP_NavEKF2_core.h.

Referenced by NavEKF2_core::calcGpsGoodToAlign(), and NavEKF3_core::calcGpsGoodToAlign().

MASK_GPS_HORIZ_SPD

#define MASK_GPS_HORIZ_SPD   (1<<7)

Definition at line 42 of file AP_NavEKF2_core.h.

Referenced by NavEKF2_core::calcGpsGoodToAlign(), and NavEKF3_core::calcGpsGoodToAlign().

MASK_GPS_NSATS

#define MASK_GPS_NSATS   (1<<0)

Definition at line 35 of file AP_NavEKF2_core.h.

Referenced by NavEKF2_core::calcGpsGoodToAlign(), and NavEKF3_core::calcGpsGoodToAlign().

MASK_GPS_POS_DRIFT

#define MASK_GPS_POS_DRIFT   (1<<5)

Definition at line 40 of file AP_NavEKF2_core.h.

Referenced by NavEKF2_core::calcGpsGoodToAlign(), and NavEKF3_core::calcGpsGoodToAlign().

MASK_GPS_POS_ERR

#define MASK_GPS_POS_ERR   (1<<3)

Definition at line 38 of file AP_NavEKF2_core.h.

Referenced by NavEKF2_core::calcGpsGoodToAlign(), and NavEKF3_core::calcGpsGoodToAlign().

MASK_GPS_SPD_ERR

#define MASK_GPS_SPD_ERR   (1<<2)

Definition at line 37 of file AP_NavEKF2_core.h.

Referenced by NavEKF2_core::calcGpsGoodToAlign(), and NavEKF3_core::calcGpsGoodToAlign().

MASK_GPS_VERT_SPD

#define MASK_GPS_VERT_SPD   (1<<6)

Definition at line 41 of file AP_NavEKF2_core.h.

Referenced by NavEKF2_core::calcGpsGoodToAlign(), and NavEKF3_core::calcGpsGoodToAlign().

MASK_GPS_YAW_ERR

#define MASK_GPS_YAW_ERR   (1<<4)

Definition at line 39 of file AP_NavEKF2_core.h.

Referenced by NavEKF2_core::calcGpsGoodToAlign(), and NavEKF3_core::calcGpsGoodToAlign().