#include <AP_Math/AP_Math.h>
#include "AP_NavEKF3.h"
#include <AP_Math/vectorN.h>
#include <AP_NavEKF3/AP_NavEKF3_Buffer.h>

Include dependency graph for AP_NavEKF3_core.h:

This graph shows which files directly or indirectly include this file:

Classes
class	NavEKF3_core

struct	NavEKF3_core::state_elements

struct	NavEKF3_core::output_elements

struct	NavEKF3_core::imu_elements

struct	NavEKF3_core::gps_elements

struct	NavEKF3_core::mag_elements

struct	NavEKF3_core::baro_elements

struct	NavEKF3_core::range_elements

struct	NavEKF3_core::rng_bcn_elements

struct	NavEKF3_core::tas_elements

struct	NavEKF3_core::of_elements

struct	NavEKF3_core::vel_odm_elements

struct	NavEKF3_core::wheel_odm_elements

Macros
#define	EK3_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	earthRate 0.000072921f

#define	STARTUP_WIND_SPEED 3.0f

#define	GYRO_BIAS_LIMIT 0.5f

#define	ACCEL_BIAS_LIM_SCALER 0.2f

#define	EKF_TARGET_DT_MS 12

#define	EKF_TARGET_DT 0.012f

#define	EKF3_MAG_FINAL_RESET_ALT 2.5f

Macro Definition Documentation

◆ ACCEL_BIAS_LIM_SCALER

#define ACCEL_BIAS_LIM_SCALER 0.2f

Definition at line 58 of file AP_NavEKF3_core.h.

Referenced by NavEKF3_core::CovarianceInit(), and NavEKF3_core::setWindMagStateLearningMode().

◆ earthRate

#define earthRate 0.000072921f

Definition at line 48 of file AP_NavEKF3_core.h.

◆ EK3_DISABLE_INTERRUPTS

#define EK3_DISABLE_INTERRUPTS 0

Definition at line 24 of file AP_NavEKF3_core.h.

◆ EKF3_MAG_FINAL_RESET_ALT

#define EKF3_MAG_FINAL_RESET_ALT 2.5f

Definition at line 65 of file AP_NavEKF3_core.h.

Referenced by NavEKF3_core::controlMagYawReset().

◆ EKF_TARGET_DT

#define EKF_TARGET_DT 0.012f

Definition at line 62 of file AP_NavEKF3_core.h.

◆ EKF_TARGET_DT_MS

#define EKF_TARGET_DT_MS 12

Definition at line 61 of file AP_NavEKF3_core.h.

Referenced by NavEKF3_core::InitialiseVariables(), and NavEKF3_core::setup_core().

◆ GYRO_BIAS_LIMIT

#define GYRO_BIAS_LIMIT 0.5f

Definition at line 55 of file AP_NavEKF3_core.h.

◆ HGT_SOURCE_BARO

#define HGT_SOURCE_BARO 0

Definition at line 43 of file AP_NavEKF3_core.h.

◆ HGT_SOURCE_BCN

#define HGT_SOURCE_BCN 3

Definition at line 46 of file AP_NavEKF3_core.h.

◆ HGT_SOURCE_GPS

#define HGT_SOURCE_GPS 2

Definition at line 45 of file AP_NavEKF3_core.h.

◆ HGT_SOURCE_RNG

#define HGT_SOURCE_RNG 1

Definition at line 44 of file AP_NavEKF3_core.h.

◆ MASK_GPS_HDOP

#define MASK_GPS_HDOP (1<<1)

Definition at line 34 of file AP_NavEKF3_core.h.

◆ MASK_GPS_HORIZ_SPD

#define MASK_GPS_HORIZ_SPD (1<<7)

Definition at line 40 of file AP_NavEKF3_core.h.

◆ MASK_GPS_NSATS

#define MASK_GPS_NSATS (1<<0)

Definition at line 33 of file AP_NavEKF3_core.h.

◆ MASK_GPS_POS_DRIFT

#define MASK_GPS_POS_DRIFT (1<<5)

Definition at line 38 of file AP_NavEKF3_core.h.

◆ MASK_GPS_POS_ERR

#define MASK_GPS_POS_ERR (1<<3)

Definition at line 36 of file AP_NavEKF3_core.h.

◆ MASK_GPS_SPD_ERR

#define MASK_GPS_SPD_ERR (1<<2)

Definition at line 35 of file AP_NavEKF3_core.h.

◆ MASK_GPS_VERT_SPD

#define MASK_GPS_VERT_SPD (1<<6)

Definition at line 39 of file AP_NavEKF3_core.h.

◆ MASK_GPS_YAW_ERR

#define MASK_GPS_YAW_ERR (1<<4)

Definition at line 37 of file AP_NavEKF3_core.h.

◆ STARTUP_WIND_SPEED

#define STARTUP_WIND_SPEED 3.0f

Definition at line 52 of file AP_NavEKF3_core.h.

Classes

Macros