AP_AHRS_NavEKF Class Reference

#include <AP_AHRS_NavEKF.h>

Inheritance diagram for AP_AHRS_NavEKF:

Collaboration diagram for AP_AHRS_NavEKF:

Public Types
enum	Flags { FLAG_NONE = 0, FLAG_ALWAYS_USE_EKF = 0x1 }

Public Member Functions
	AP_AHRS_NavEKF (NavEKF2 &_EKF2, NavEKF3 &_EKF3, Flags flags=FLAG_NONE)
	AP_AHRS_NavEKF (const AP_AHRS_NavEKF &other)=delete
AP_AHRS_NavEKF &	operator= (const AP_AHRS_NavEKF &)=delete
const Vector3f &	get_gyro (void) const override
const Matrix3f &	get_rotation_body_to_ned (void) const override
const Vector3f &	get_gyro_drift (void) const override
void	reset_gyro_drift () override
void	update (bool skip_ins_update=false) override
void	reset (bool recover_eulers=false) override
void	reset_attitude (const float &roll, const float &pitch, const float &yaw) override
bool	get_position (struct Location &loc) const override
bool	get_hagl (float &hagl) const override
float	get_error_rp () const override
float	get_error_yaw () const override
Vector3f	wind_estimate () const override
bool	airspeed_estimate (float *airspeed_ret) const override
bool	use_compass () override
NavEKF2 &	get_NavEKF2 (void)
const NavEKF2 &	get_NavEKF2_const (void) const
NavEKF3 &	get_NavEKF3 (void)
const NavEKF3 &	get_NavEKF3_const (void) const
bool	get_secondary_attitude (Vector3f &eulers) const override
bool	get_secondary_quaternion (Quaternion &quat) const override
bool	get_secondary_position (struct Location &loc) const override
Vector2f	groundspeed_vector () override
const Vector3f &	get_accel_ef (uint8_t i) const override
const Vector3f &	get_accel_ef () const override
void	getCorrectedDeltaVelocityNED (Vector3f &ret, float &dt) const override
const Vector3f &	get_accel_ef_blended () const override
bool	set_origin (const Location &loc) override
bool	get_origin (Location &ret) const override
bool	have_inertial_nav () const override
bool	get_velocity_NED (Vector3f &vec) const override
bool	get_relative_position_NED_home (Vector3f &vec) const override
bool	get_relative_position_NED_origin (Vector3f &vec) const override
bool	get_relative_position_NE_home (Vector2f &posNE) const override
bool	get_relative_position_NE_origin (Vector2f &posNE) const override
void	get_relative_position_D_home (float &posD) const override
bool	get_relative_position_D_origin (float &posD) const override
bool	get_vert_pos_rate (float &velocity) const
void	writeOptFlowMeas (uint8_t &rawFlowQuality, Vector2f &rawFlowRates, Vector2f &rawGyroRates, uint32_t &msecFlowMeas, const Vector3f &posOffset)
void	writeBodyFrameOdom (float quality, const Vector3f &delPos, const Vector3f &delAng, float delTime, uint32_t timeStamp_ms, const Vector3f &posOffset)
void	writeExtNavData (const Vector3f &sensOffset, const Vector3f &pos, const Quaternion &quat, float posErr, float angErr, uint32_t timeStamp_ms, uint32_t resetTime_ms) override
uint8_t	setInhibitGPS (void)
void	getEkfControlLimits (float &ekfGndSpdLimit, float &ekfNavVelGainScaler) const
void	set_ekf_use (bool setting)
bool	healthy () const override
bool	initialised () const override
bool	get_filter_status (nav_filter_status &status) const
bool	getMagOffsets (uint8_t mag_idx, Vector3f &magOffsets) const
const char *	prearm_failure_reason (void) const override
uint32_t	getLastYawResetAngle (float &yawAng) const override
uint32_t	getLastPosNorthEastReset (Vector2f &pos) const override
uint32_t	getLastVelNorthEastReset (Vector2f &vel) const override
uint32_t	getLastPosDownReset (float &posDelta) const override
bool	resetHeightDatum () override
void	send_ekf_status_report (mavlink_channel_t chan) const
bool	get_hgt_ctrl_limit (float &limit) const override
bool	get_location (struct Location &loc) const
bool	get_variances (float &velVar, float &posVar, float &hgtVar, Vector3f &magVar, float &tasVar, Vector2f &offset) const override
bool	get_mag_field_NED (Vector3f &ret) const
bool	get_mag_field_correction (Vector3f &ret) const override
void	setTakeoffExpected (bool val)
void	setTouchdownExpected (bool val)
bool	getGpsGlitchStatus () const
void	force_ekf_start (void)
bool	have_ekf_logging (void) const override
uint8_t	get_primary_accel_index (void) const override
uint8_t	get_primary_gyro_index (void) const override
Public Member Functions inherited from AP_AHRS_DCM
	AP_AHRS_DCM ()
	AP_AHRS_DCM (const AP_AHRS_DCM &other)=delete
AP_AHRS_DCM &	operator= (const AP_AHRS_DCM &)=delete
void	set_home (const Location &loc) override
void	estimate_wind (void)
uint32_t	uptime_ms () const override
Public Member Functions inherited from AP_AHRS
	AP_AHRS ()
virtual	~AP_AHRS ()
virtual void	init ()
void	set_fly_forward (bool b)
bool	get_fly_forward (void) const
void	set_likely_flying (bool b)
bool	get_likely_flying (void) const
uint32_t	get_time_flying_ms (void) const
AHRS_VehicleClass	get_vehicle_class (void) const
void	set_vehicle_class (AHRS_VehicleClass vclass)
void	set_wind_estimation (bool b)
void	set_compass (Compass *compass)
const Compass *	get_compass () const
void	set_optflow (const OpticalFlow *optflow)
const OpticalFlow *	get_optflow () const
void	set_orientation ()
void	set_airspeed (AP_Airspeed *airspeed)
void	set_beacon (AP_Beacon *beacon)
const AP_Airspeed *	get_airspeed (void) const
const AP_Beacon *	get_beacon (void) const
float	get_yaw_rate_earth (void) const
Vector3f	get_gyro_latest (void) const
const Matrix3f &	get_rotation_autopilot_body_to_vehicle_body (void) const
const Matrix3f &	get_rotation_vehicle_body_to_autopilot_body (void) const
bool	airspeed_estimate_true (float *airspeed_ret) const
float	get_EAS2TAS (void) const
bool	airspeed_sensor_enabled (void) const
virtual bool	get_expected_mag_field_NED (Vector3f &ret) const
float	groundspeed (void)
bool	yaw_initialised (void) const
void	set_correct_centrifugal (bool setting)
bool	get_correct_centrifugal (void) const
const Vector3f &	get_trim () const
virtual void	set_trim (Vector3f new_trim)
virtual void	add_trim (float roll_in_radians, float pitch_in_radians, bool save_to_eeprom=true)
float	cos_roll () const
float	cos_pitch () const
float	cos_yaw () const
float	sin_roll () const
float	sin_pitch () const
float	sin_yaw () const
const struct Location &	get_home (void) const
void	lock_home ()
bool	home_is_locked () const
bool	home_is_set (void) const
void	Log_Write_Home_And_Origin ()
uint8_t	get_active_accel_instance (void) const
int8_t	get_ekf_type (void) const
AP_AHRS_View *	create_view (enum Rotation rotation)
float	getAOA (void)
float	getSSA (void)
Vector2f	rotate_earth_to_body2D (const Vector2f &ef_vector) const
Vector2f	rotate_body_to_earth2D (const Vector2f &bf) const
virtual void	update_AOA_SSA (void)

Private Types
enum	EKF_TYPE { EKF_TYPE_NONE =0, EKF_TYPE3 =3, EKF_TYPE2 =2, EKF_TYPE_SITL =10 }

Private Member Functions
EKF_TYPE	active_EKF_type (void) const
bool	always_use_EKF () const
uint8_t	ekf_type (void) const
void	update_DCM (bool skip_ins_update)
void	update_EKF2 (void)
void	update_EKF3 (void)
uint8_t	get_primary_IMU_index (void) const
void	update_SITL (void)

Private Attributes
NavEKF2 &	EKF2
NavEKF3 &	EKF3
bool	_ekf2_started
bool	_ekf3_started
bool	_force_ekf
Matrix3f	_dcm_matrix
Vector3f	_dcm_attitude
Vector3f	_gyro_drift
Vector3f	_gyro_estimate
Vector3f	_accel_ef_ekf [INS_MAX_INSTANCES]
Vector3f	_accel_ef_ekf_blended
const uint16_t	startup_delay_ms = 1000
uint32_t	start_time_ms = 0
Flags	_ekf_flags
SITL::SITL *	_sitl
uint32_t	_last_body_odm_update_ms = 0

Additional Inherited Members
Static Public Member Functions inherited from AP_AHRS
static AP_AHRS *	get_singleton ()
Public Attributes inherited from AP_AHRS
float	roll
float	pitch
float	yaw
int32_t	roll_sensor
int32_t	pitch_sensor
int32_t	yaw_sensor
Static Public Attributes inherited from AP_AHRS
static const struct AP_Param::GroupInfo	var_info []
Protected Member Functions inherited from AP_AHRS
void	calc_trig (const Matrix3f &rot, float &cr, float &cp, float &cy, float &sr, float &sp, float &sy) const
void	update_trig (void)
void	update_cd_values (void)
Protected Attributes inherited from AP_AHRS
AHRS_VehicleClass	_vehicle_class
AP_Float	_kp_yaw
AP_Float	_kp
AP_Float	gps_gain
AP_Float	beta
AP_Int8	_gps_use
AP_Int8	_wind_max
AP_Int8	_board_orientation
AP_Int8	_gps_minsats
AP_Int8	_gps_delay
AP_Int8	_ekf_type
AP_Float	_custom_roll
AP_Float	_custom_pitch
AP_Float	_custom_yaw
Matrix3f	_custom_rotation
struct AP_AHRS::ahrs_flags	_flags
uint32_t	_last_flying_ms
Compass *	_compass
const OpticalFlow *	_optflow
AP_Airspeed *	_airspeed
AP_Beacon *	_beacon
uint32_t	_compass_last_update
AP_Vector3f	_trim
Vector3f	_last_trim
Matrix3f	_rotation_autopilot_body_to_vehicle_body
Matrix3f	_rotation_vehicle_body_to_autopilot_body
float	_gyro_drift_limit
Vector3f	_accel_ef [INS_MAX_INSTANCES]
Vector3f	_accel_ef_blended
Vector2f	_lp
Vector2f	_hp
Vector2f	_lastGndVelADS
struct Location	_home
bool	_home_is_set:1
bool	_home_locked:1
float	_cos_roll
float	_cos_pitch
float	_cos_yaw
float	_sin_roll
float	_sin_pitch
float	_sin_yaw
uint8_t	_active_accel_instance
AP_AHRS_View *	_view
float	_AOA
float	_SSA
uint32_t	_last_AOA_update_ms

Detailed Description

Definition at line 41 of file AP_AHRS_NavEKF.h.

Member Enumeration Documentation

EKF_TYPE

enum AP_AHRS_NavEKF::EKF_TYPE

private

Enumerator
EKF_TYPE_NONE
EKF_TYPE3
EKF_TYPE2
EKF_TYPE_SITL

Definition at line 259 of file AP_AHRS_NavEKF.h.

Flags

enum AP_AHRS_NavEKF::Flags

Enumerator
FLAG_NONE
FLAG_ALWAYS_USE_EKF

Definition at line 43 of file AP_AHRS_NavEKF.h.

Constructor & Destructor Documentation

AP_AHRS_NavEKF() [1/2]

AP_AHRS_NavEKF::AP_AHRS_NavEKF	(	NavEKF2 &	_EKF2,
		NavEKF3 &	_EKF3,
		Flags	flags = FLAG_NONE
	)

Definition at line 33 of file AP_AHRS_NavEKF.cpp.

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AP_AHRS_NavEKF() [2/2]

AP_AHRS_NavEKF::AP_AHRS_NavEKF ( const AP_AHRS_NavEKF &  other )

delete

Member Function Documentation

active_EKF_type()

AP_AHRS_NavEKF::EKF_TYPE AP_AHRS_NavEKF::active_EKF_type ( void  ) const

private

Definition at line 929 of file AP_AHRS_NavEKF.cpp.

Referenced by get_accel_ef(), get_accel_ef_blended(), get_gyro(), get_gyro_drift(), get_hagl(), get_mag_field_correction(), get_mag_field_NED(), get_position(), get_relative_position_D_origin(), get_relative_position_NE_origin(), get_relative_position_NED_origin(), get_rotation_body_to_ned(), get_secondary_attitude(), get_secondary_position(), get_secondary_quaternion(), get_velocity_NED(), get_vert_pos_rate(), getCorrectedDeltaVelocityNED(), groundspeed_vector(), have_inertial_nav(), healthy(), set_origin(), update_EKF2(), update_EKF3(), update_SITL(), use_compass(), and wind_estimate().

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airspeed_estimate()

bool AP_AHRS_NavEKF::airspeed_estimate ( float *  airspeed_ret ) const

overridevirtual

Reimplemented from AP_AHRS_DCM.

Definition at line 476 of file AP_AHRS_NavEKF.cpp.

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always_use_EKF()

bool AP_AHRS_NavEKF::always_use_EKF ( ) const

inlineprivate

Definition at line 268 of file AP_AHRS_NavEKF.h.

Referenced by active_EKF_type(), and ekf_type().

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ekf_type()

uint8_t AP_AHRS_NavEKF::ekf_type ( void  ) const

private

Definition at line 915 of file AP_AHRS_NavEKF.cpp.

Referenced by active_EKF_type(), get_filter_status(), get_hgt_ctrl_limit(), get_location(), get_origin(), get_primary_accel_index(), get_primary_gyro_index(), get_primary_IMU_index(), get_variances(), getEkfControlLimits(), getLastPosDownReset(), getLastPosNorthEastReset(), getLastVelNorthEastReset(), getLastYawResetAngle(), getMagOffsets(), have_ekf_logging(), healthy(), initialised(), prearm_failure_reason(), resetHeightDatum(), send_ekf_status_report(), setInhibitGPS(), setTakeoffExpected(), and setTouchdownExpected().

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force_ekf_start()

void AP_AHRS_NavEKF::force_ekf_start ( void  )

inline

Definition at line 247 of file AP_AHRS_NavEKF.h.

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get_accel_ef() [1/2]

const Vector3f & AP_AHRS_NavEKF::get_accel_ef ( uint8_t  i ) const

overridevirtual

Reimplemented from AP_AHRS.

Definition at line 352 of file AP_AHRS_NavEKF.cpp.

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get_accel_ef() [2/2]

const Vector3f & AP_AHRS_NavEKF::get_accel_ef ( void  ) const

overridevirtual

Reimplemented from AP_AHRS.

Definition at line 1621 of file AP_AHRS_NavEKF.cpp.

Referenced by get_NavEKF3_const().

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get_accel_ef_blended()

const Vector3f & AP_AHRS_NavEKF::get_accel_ef_blended ( void  ) const

overridevirtual

Reimplemented from AP_AHRS.

Definition at line 361 of file AP_AHRS_NavEKF.cpp.

Referenced by get_NavEKF3_const().

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get_error_rp()

float AP_AHRS_NavEKF::get_error_rp ( void  ) const

overridevirtual

Reimplemented from AP_AHRS_DCM.

Definition at line 437 of file AP_AHRS_NavEKF.cpp.

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get_error_yaw()

float AP_AHRS_NavEKF::get_error_yaw ( void  ) const

overridevirtual

Reimplemented from AP_AHRS_DCM.

Definition at line 442 of file AP_AHRS_NavEKF.cpp.

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get_filter_status()

bool AP_AHRS_NavEKF::get_filter_status

(

nav_filter_status &

status

)

const

Definition at line 1117 of file AP_AHRS_NavEKF.cpp.

Referenced by active_EKF_type(), SoloGimbalEKF::fuseVelocity(), get_NavEKF3_const(), getGpsGlitchStatus(), SoloGimbalEKF::RunEKF(), and AC_PrecLand::update().

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get_gyro()

const Vector3f & AP_AHRS_NavEKF::get_gyro ( void  ) const

overridevirtual

Reimplemented from AP_AHRS_DCM.

Definition at line 45 of file AP_AHRS_NavEKF.cpp.

Referenced by AC_PrecLand::run_estimator(), AC_PrecLand::run_output_prediction(), and AP_OpticalFlow_Pixart::timer().

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get_gyro_drift()

const Vector3f & AP_AHRS_NavEKF::get_gyro_drift ( void  ) const

overridevirtual

Reimplemented from AP_AHRS_DCM.

Definition at line 61 of file AP_AHRS_NavEKF.cpp.

Referenced by loop(), and update().

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get_hagl()

bool AP_AHRS_NavEKF::get_hagl ( float &  hagl ) const

overridevirtual

Reimplemented from AP_AHRS.

Definition at line 725 of file AP_AHRS_NavEKF.cpp.

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get_hgt_ctrl_limit()

bool AP_AHRS_NavEKF::get_hgt_ctrl_limit ( float &  limit ) const

overridevirtual

Reimplemented from AP_AHRS.

Definition at line 1456 of file AP_AHRS_NavEKF.cpp.

Referenced by get_NavEKF3_const().

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get_location()

bool AP_AHRS_NavEKF::get_location

(

struct Location &

loc

)

const

Definition at line 1479 of file AP_AHRS_NavEKF.cpp.

Referenced by get_NavEKF3_const(), and AC_Fence::load_polygon_from_eeprom().

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get_mag_field_correction()

bool AP_AHRS_NavEKF::get_mag_field_correction ( Vector3f &  ret ) const

overridevirtual

Reimplemented from AP_AHRS.

Definition at line 675 of file AP_AHRS_NavEKF.cpp.

Referenced by SoloGimbalEKF::calcMagHeadingInnov(), and get_NavEKF3_const().

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get_mag_field_NED()

bool AP_AHRS_NavEKF::get_mag_field_NED

(

Vector3f &

ret

)

const

Definition at line 652 of file AP_AHRS_NavEKF.cpp.

Referenced by SoloGimbalEKF::calcMagHeadingInnov(), and get_NavEKF3_const().

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get_NavEKF2()

NavEKF2& AP_AHRS_NavEKF::get_NavEKF2 ( void  )

inline

Definition at line 93 of file AP_AHRS_NavEKF.h.

Referenced by DataFlash_Class::Log_Write_POS().

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get_NavEKF2_const()

const NavEKF2& AP_AHRS_NavEKF::get_NavEKF2_const ( void  ) const

inline

Definition at line 96 of file AP_AHRS_NavEKF.h.

Referenced by GCS_MAVLINK::send_ahrs2().

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get_NavEKF3()

NavEKF3& AP_AHRS_NavEKF::get_NavEKF3 ( void  )

inline

Definition at line 100 of file AP_AHRS_NavEKF.h.

Referenced by DataFlash_Class::Log_Write_POS().

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get_NavEKF3_const()

const NavEKF3& AP_AHRS_NavEKF::get_NavEKF3_const ( void  ) const

inline

Definition at line 103 of file AP_AHRS_NavEKF.h.

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get_origin()

bool AP_AHRS_NavEKF::get_origin ( Location &  ret ) const

overridevirtual

Reimplemented from AP_AHRS.

Definition at line 1425 of file AP_AHRS_NavEKF.cpp.

Referenced by Location_Class::get_alt_cm(), get_NavEKF3_const(), get_relative_position_D_home(), get_relative_position_NE_home(), get_relative_position_NED_home(), Location_Class::get_vector_xy_from_origin_NE(), AC_Fence::load_polygon_from_eeprom(), and Location_Class::Location_Class().

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get_position()

bool AP_AHRS_NavEKF::get_position ( struct Location &  loc ) const

overridevirtual

Reimplemented from AP_AHRS_DCM.

Definition at line 395 of file AP_AHRS_NavEKF.cpp.

Referenced by get_location(), get_relative_position_NE_origin(), and get_relative_position_NED_origin().

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get_primary_accel_index()

uint8_t AP_AHRS_NavEKF::get_primary_accel_index ( void  ) const

overridevirtual

Reimplemented from AP_AHRS.

Definition at line 1628 of file AP_AHRS_NavEKF.cpp.

Referenced by AC_PrecLand::construct_pos_meas_using_rangefinder(), force_ekf_start(), get_accel_ef(), and AC_PrecLand::run_output_prediction().

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get_primary_gyro_index()

uint8_t AP_AHRS_NavEKF::get_primary_gyro_index ( void  ) const

overridevirtual

Reimplemented from AP_AHRS.

Definition at line 1637 of file AP_AHRS_NavEKF.cpp.

Referenced by force_ekf_start().

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get_primary_IMU_index()

uint8_t AP_AHRS_NavEKF::get_primary_IMU_index ( void  ) const

private

Definition at line 1599 of file AP_AHRS_NavEKF.cpp.

Referenced by get_primary_accel_index(), and get_primary_gyro_index().

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get_relative_position_D_home()

void AP_AHRS_NavEKF::get_relative_position_D_home ( float &  posD ) const

overridevirtual

Reimplemented from AP_AHRS_DCM.

Definition at line 898 of file AP_AHRS_NavEKF.cpp.

Referenced by AC_Fence::check_fence_alt_max(), and get_NavEKF3_const().

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get_relative_position_D_origin()

bool AP_AHRS_NavEKF::get_relative_position_D_origin ( float &  posD ) const

overridevirtual

Reimplemented from AP_AHRS.

Definition at line 869 of file AP_AHRS_NavEKF.cpp.

Referenced by get_NavEKF3_const(), and get_relative_position_D_home().

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get_relative_position_NE_home()

bool AP_AHRS_NavEKF::get_relative_position_NE_home ( Vector2f &  posNE ) const

overridevirtual

Reimplemented from AP_AHRS.

Definition at line 848 of file AP_AHRS_NavEKF.cpp.

Referenced by AC_Fence::check_fence_circle(), get_NavEKF3_const(), AC_Fence::pre_arm_check(), and AC_Fence::sys_status_failed().

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get_relative_position_NE_origin()

bool AP_AHRS_NavEKF::get_relative_position_NE_origin ( Vector2f &  posNE ) const

overridevirtual

Reimplemented from AP_AHRS.

Definition at line 818 of file AP_AHRS_NavEKF.cpp.

Referenced by AC_Fence::check_fence_polygon(), get_NavEKF3_const(), get_relative_position_NE_home(), and AC_PrecLand::get_target_position_cm().

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get_relative_position_NED_home()

bool AP_AHRS_NavEKF::get_relative_position_NED_home ( Vector3f &  vec ) const

overridevirtual

Reimplemented from AP_AHRS.

Definition at line 799 of file AP_AHRS_NavEKF.cpp.

Referenced by get_NavEKF3_const(), and AC_PrecLand_SITL::update().

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get_relative_position_NED_origin()

bool AP_AHRS_NavEKF::get_relative_position_NED_origin ( Vector3f &  vec ) const

overridevirtual

Reimplemented from AP_AHRS.

Definition at line 750 of file AP_AHRS_NavEKF.cpp.

Referenced by get_NavEKF3_const(), and get_relative_position_NED_home().

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get_rotation_body_to_ned()

const Matrix3f & AP_AHRS_NavEKF::get_rotation_body_to_ned ( void  ) const

overridevirtual

Reimplemented from AP_AHRS_DCM.

Definition at line 53 of file AP_AHRS_NavEKF.cpp.

Referenced by loop(), AC_PrecLand::run_output_prediction(), SoloGimbalEKF::RunEKF(), AC_PrecLand_SITL::update(), and AC_PrecLand::update().

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get_secondary_attitude()

bool AP_AHRS_NavEKF::get_secondary_attitude ( Vector3f &  eulers ) const

overridevirtual

Reimplemented from AP_AHRS.

Definition at line 503 of file AP_AHRS_NavEKF.cpp.

Referenced by get_NavEKF3_const().

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get_secondary_position()

bool AP_AHRS_NavEKF::get_secondary_position ( struct Location &  loc ) const

overridevirtual

Reimplemented from AP_AHRS.

Definition at line 544 of file AP_AHRS_NavEKF.cpp.

Referenced by get_NavEKF3_const().

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get_secondary_quaternion()

bool AP_AHRS_NavEKF::get_secondary_quaternion ( Quaternion &  quat ) const

overridevirtual

Reimplemented from AP_AHRS.

Definition at line 524 of file AP_AHRS_NavEKF.cpp.

Referenced by get_NavEKF3_const().

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get_variances()

bool AP_AHRS_NavEKF::get_variances ( float &  velVar, float &  posVar, float &  hgtVar, Vector3f &  magVar, float &  tasVar, Vector2f &  offset  ) const

overridevirtual

Reimplemented from AP_AHRS.

Definition at line 1504 of file AP_AHRS_NavEKF.cpp.

Referenced by get_NavEKF3_const().

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get_velocity_NED()

bool AP_AHRS_NavEKF::get_velocity_NED ( Vector3f &  vec ) const

overridevirtual

Reimplemented from AP_AHRS.

Definition at line 627 of file AP_AHRS_NavEKF.cpp.

Referenced by SoloGimbalEKF::fuseVelocity(), get_NavEKF3_const(), and AC_PrecLand::update().

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get_vert_pos_rate()

bool AP_AHRS_NavEKF::get_vert_pos_rate

(

float &

velocity

)

const

Definition at line 699 of file AP_AHRS_NavEKF.cpp.

Referenced by get_NavEKF3_const().

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getCorrectedDeltaVelocityNED()

void AP_AHRS_NavEKF::getCorrectedDeltaVelocityNED ( Vector3f &  ret, float &  dt  ) const

overridevirtual

Reimplemented from AP_AHRS.

Definition at line 1237 of file AP_AHRS_NavEKF.cpp.

Referenced by get_NavEKF3_const(), and AC_PrecLand::update().

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getEkfControlLimits()

void AP_AHRS_NavEKF::getEkfControlLimits	(	float &	ekfGndSpdLimit,
		float &	ekfNavVelGainScaler
	)		const

Definition at line 1191 of file AP_AHRS_NavEKF.cpp.

Referenced by get_NavEKF3_const().

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getGpsGlitchStatus()

bool AP_AHRS_NavEKF::getGpsGlitchStatus

(

)

const

Definition at line 1573 of file AP_AHRS_NavEKF.cpp.

Referenced by get_NavEKF3_const().

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getLastPosDownReset()

uint32_t AP_AHRS_NavEKF::getLastPosDownReset ( float &  posDelta ) const

overridevirtual

Reimplemented from AP_AHRS.

Definition at line 1352 of file AP_AHRS_NavEKF.cpp.

Referenced by get_NavEKF3_const().

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getLastPosNorthEastReset()

uint32_t AP_AHRS_NavEKF::getLastPosNorthEastReset ( Vector2f &  pos ) const

overridevirtual

Reimplemented from AP_AHRS.

Definition at line 1309 of file AP_AHRS_NavEKF.cpp.

Referenced by get_NavEKF3_const().

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getLastVelNorthEastReset()

uint32_t AP_AHRS_NavEKF::getLastVelNorthEastReset ( Vector2f &  vel ) const

overridevirtual

Reimplemented from AP_AHRS.

Definition at line 1330 of file AP_AHRS_NavEKF.cpp.

Referenced by get_NavEKF3_const().

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getLastYawResetAngle()

uint32_t AP_AHRS_NavEKF::getLastYawResetAngle ( float &  yawAng ) const

overridevirtual

Reimplemented from AP_AHRS.

Definition at line 1288 of file AP_AHRS_NavEKF.cpp.

Referenced by get_NavEKF3_const().

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getMagOffsets()

bool AP_AHRS_NavEKF::getMagOffsets	(	uint8_t	mag_idx,
		Vector3f &	magOffsets
	)		const

Definition at line 1216 of file AP_AHRS_NavEKF.cpp.

Referenced by get_NavEKF3_const().

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groundspeed_vector()

Vector2f AP_AHRS_NavEKF::groundspeed_vector ( void  )

overridevirtual

Reimplemented from AP_AHRS.

Definition at line 564 of file AP_AHRS_NavEKF.cpp.

Referenced by get_NavEKF3_const().

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have_ekf_logging()

bool AP_AHRS_NavEKF::have_ekf_logging ( void  ) const

overridevirtual

Reimplemented from AP_AHRS.

Definition at line 1583 of file AP_AHRS_NavEKF.cpp.

Referenced by force_ekf_start().

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have_inertial_nav()

bool AP_AHRS_NavEKF::have_inertial_nav ( void  ) const

overridevirtual

Reimplemented from AP_AHRS.

Definition at line 620 of file AP_AHRS_NavEKF.cpp.

Referenced by SoloGimbalEKF::fuseVelocity(), and get_NavEKF3_const().

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healthy()

bool AP_AHRS_NavEKF::healthy ( void  ) const

overridevirtual

Reimplemented from AP_AHRS_DCM.

Definition at line 1040 of file AP_AHRS_NavEKF.cpp.

Referenced by get_NavEKF3_const().

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initialised()

bool AP_AHRS_NavEKF::initialised ( void  ) const

overridevirtual

Reimplemented from AP_AHRS.

Definition at line 1094 of file AP_AHRS_NavEKF.cpp.

Referenced by get_NavEKF3_const().

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operator=()

AP_AHRS_NavEKF& AP_AHRS_NavEKF::operator= ( const AP_AHRS_NavEKF &  )

delete

prearm_failure_reason()

const char * AP_AHRS_NavEKF::prearm_failure_reason ( void  ) const

overridevirtual

Reimplemented from AP_AHRS.

Definition at line 1269 of file AP_AHRS_NavEKF.cpp.

Referenced by get_NavEKF3_const().

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reset()

void AP_AHRS_NavEKF::reset ( bool  recover_eulers = false )

overridevirtual

Reimplemented from AP_AHRS_DCM.

Definition at line 369 of file AP_AHRS_NavEKF.cpp.

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reset_attitude()

void AP_AHRS_NavEKF::reset_attitude ( const float &  roll, const float &  pitch, const float &  yaw  )

overridevirtual

Reimplemented from AP_AHRS_DCM.

Definition at line 382 of file AP_AHRS_NavEKF.cpp.

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reset_gyro_drift()

void AP_AHRS_NavEKF::reset_gyro_drift ( void  )

overridevirtual

Reimplemented from AP_AHRS_DCM.

Definition at line 71 of file AP_AHRS_NavEKF.cpp.

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resetHeightDatum()

bool AP_AHRS_NavEKF::resetHeightDatum ( void  )

overridevirtual

Reimplemented from AP_AHRS.

Definition at line 1374 of file AP_AHRS_NavEKF.cpp.

Referenced by get_NavEKF3_const().

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send_ekf_status_report()

void AP_AHRS_NavEKF::send_ekf_status_report

(

mavlink_channel_t

chan

)

const

Definition at line 1398 of file AP_AHRS_NavEKF.cpp.

Referenced by get_NavEKF3_const().

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set_ekf_use()

void AP_AHRS_NavEKF::set_ekf_use

(

bool

setting

)

Definition at line 1088 of file AP_AHRS_NavEKF.cpp.

Referenced by get_NavEKF3_const().

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set_origin()

bool AP_AHRS_NavEKF::set_origin ( const Location &  loc )

overridevirtual

Reimplemented from AP_AHRS.

Definition at line 593 of file AP_AHRS_NavEKF.cpp.

Referenced by get_NavEKF3_const().

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setInhibitGPS()

uint8_t AP_AHRS_NavEKF::setInhibitGPS

(

void

)

Definition at line 1171 of file AP_AHRS_NavEKF.cpp.

Referenced by get_NavEKF3_const().

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setTakeoffExpected()

void AP_AHRS_NavEKF::setTakeoffExpected

(

bool

val

)

Definition at line 1535 of file AP_AHRS_NavEKF.cpp.

Referenced by get_NavEKF3_const().

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setTouchdownExpected()

void AP_AHRS_NavEKF::setTouchdownExpected

(

bool

val

)

Definition at line 1554 of file AP_AHRS_NavEKF.cpp.

Referenced by get_NavEKF3_const().

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update()

void AP_AHRS_NavEKF::update ( bool  skip_ins_update = false )

overridevirtual

Reimplemented from AP_AHRS_DCM.

Definition at line 81 of file AP_AHRS_NavEKF.cpp.

Referenced by loop().

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update_DCM()

void AP_AHRS_NavEKF::update_DCM ( bool  skip_ins_update )

private

Definition at line 125 of file AP_AHRS_NavEKF.cpp.

Referenced by update().

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update_EKF2()

void AP_AHRS_NavEKF::update_EKF2 ( void  )

private

Definition at line 141 of file AP_AHRS_NavEKF.cpp.

Referenced by update().

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update_EKF3()

void AP_AHRS_NavEKF::update_EKF3 ( void  )

private

Definition at line 214 of file AP_AHRS_NavEKF.cpp.

Referenced by update().

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update_SITL()

void AP_AHRS_NavEKF::update_SITL ( void  )

private

Definition at line 289 of file AP_AHRS_NavEKF.cpp.

Referenced by update().

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use_compass()

bool AP_AHRS_NavEKF::use_compass ( void  )

overridevirtual

Reimplemented from AP_AHRS_DCM.

Definition at line 482 of file AP_AHRS_NavEKF.cpp.

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wind_estimate()

Vector3f AP_AHRS_NavEKF::wind_estimate ( void  ) const

overridevirtual

Reimplemented from AP_AHRS_DCM.

Definition at line 448 of file AP_AHRS_NavEKF.cpp.

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writeBodyFrameOdom()

void AP_AHRS_NavEKF::writeBodyFrameOdom	(	float	quality,
		const Vector3f &	delPos,
		const Vector3f &	delAng,
		float	delTime,
		uint32_t	timeStamp_ms,
		const Vector3f &	posOffset
	)

Definition at line 1158 of file AP_AHRS_NavEKF.cpp.

Referenced by get_NavEKF3_const().

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writeExtNavData()

void AP_AHRS_NavEKF::writeExtNavData ( const Vector3f &  sensOffset, const Vector3f &  pos, const Quaternion &  quat, float  posErr, float  angErr, uint32_t  timeStamp_ms, uint32_t  resetTime_ms  )

overridevirtual

Reimplemented from AP_AHRS.

Definition at line 1164 of file AP_AHRS_NavEKF.cpp.

Referenced by get_NavEKF3_const().

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writeOptFlowMeas()

void AP_AHRS_NavEKF::writeOptFlowMeas	(	uint8_t &	rawFlowQuality,
		Vector2f &	rawFlowRates,
		Vector2f &	rawGyroRates,
		uint32_t &	msecFlowMeas,
		const Vector3f &	posOffset
	)

Definition at line 1151 of file AP_AHRS_NavEKF.cpp.

Referenced by get_NavEKF3_const().

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Member Data Documentation

_accel_ef_ekf

Vector3f AP_AHRS_NavEKF::_accel_ef_ekf[INS_MAX_INSTANCES]

private

Definition at line 281 of file AP_AHRS_NavEKF.h.

Referenced by get_accel_ef(), update_EKF2(), update_EKF3(), and update_SITL().

_accel_ef_ekf_blended

Vector3f AP_AHRS_NavEKF::_accel_ef_ekf_blended

private

Definition at line 282 of file AP_AHRS_NavEKF.h.

Referenced by get_accel_ef_blended(), update_EKF2(), update_EKF3(), and update_SITL().

_dcm_attitude

Vector3f AP_AHRS_NavEKF::_dcm_attitude

private

Definition at line 278 of file AP_AHRS_NavEKF.h.

Referenced by get_secondary_attitude(), reset(), reset_attitude(), and update_DCM().

_dcm_matrix

Matrix3f AP_AHRS_NavEKF::_dcm_matrix

private

Definition at line 277 of file AP_AHRS_NavEKF.h.

Referenced by AP_AHRS_NavEKF(), get_rotation_body_to_ned(), getCorrectedDeltaVelocityNED(), update_EKF2(), update_EKF3(), and update_SITL().

_ekf2_started

bool AP_AHRS_NavEKF::_ekf2_started

private

Definition at line 274 of file AP_AHRS_NavEKF.h.

Referenced by active_EKF_type(), get_secondary_attitude(), get_secondary_position(), get_secondary_quaternion(), healthy(), initialised(), reset(), reset_attitude(), and update_EKF2().

_ekf3_started

bool AP_AHRS_NavEKF::_ekf3_started

private

Definition at line 275 of file AP_AHRS_NavEKF.h.

Referenced by active_EKF_type(), healthy(), initialised(), reset(), reset_attitude(), and update_EKF3().

_ekf_flags

Flags AP_AHRS_NavEKF::_ekf_flags

private

Definition at line 285 of file AP_AHRS_NavEKF.h.

Referenced by always_use_EKF().

_force_ekf

bool AP_AHRS_NavEKF::_force_ekf

private

Definition at line 276 of file AP_AHRS_NavEKF.h.

Referenced by force_ekf_start(), update_EKF2(), and update_EKF3().

_gyro_drift

Vector3f AP_AHRS_NavEKF::_gyro_drift

private

Definition at line 279 of file AP_AHRS_NavEKF.h.

Referenced by get_gyro_drift(), update_EKF2(), update_EKF3(), and update_SITL().

_gyro_estimate

Vector3f AP_AHRS_NavEKF::_gyro_estimate

private

Definition at line 280 of file AP_AHRS_NavEKF.h.

Referenced by get_gyro(), update_EKF2(), update_EKF3(), and update_SITL().

_last_body_odm_update_ms

uint32_t AP_AHRS_NavEKF::_last_body_odm_update_ms = 0

private

Definition at line 297 of file AP_AHRS_NavEKF.h.

Referenced by update_SITL().

_sitl

SITL::SITL* AP_AHRS_NavEKF::_sitl

private

Definition at line 296 of file AP_AHRS_NavEKF.h.

Referenced by get_hagl(), get_origin(), get_position(), get_relative_position_D_origin(), get_relative_position_NED_origin(), get_velocity_NED(), get_vert_pos_rate(), groundspeed_vector(), set_origin(), and update_SITL().

EKF2

NavEKF2& AP_AHRS_NavEKF::EKF2

private

Definition at line 272 of file AP_AHRS_NavEKF.h.

Referenced by active_EKF_type(), get_filter_status(), get_hagl(), get_hgt_ctrl_limit(), get_location(), get_mag_field_correction(), get_mag_field_NED(), get_NavEKF2(), get_NavEKF2_const(), get_origin(), get_position(), get_primary_IMU_index(), get_relative_position_D_origin(), get_relative_position_NE_origin(), get_relative_position_NED_origin(), get_secondary_attitude(), get_secondary_position(), get_secondary_quaternion(), get_variances(), get_velocity_NED(), get_vert_pos_rate(), getCorrectedDeltaVelocityNED(), getEkfControlLimits(), getLastPosDownReset(), getLastPosNorthEastReset(), getLastVelNorthEastReset(), getLastYawResetAngle(), getMagOffsets(), groundspeed_vector(), have_ekf_logging(), healthy(), prearm_failure_reason(), reset(), reset_attitude(), reset_gyro_drift(), resetHeightDatum(), send_ekf_status_report(), set_origin(), setInhibitGPS(), setTakeoffExpected(), setTouchdownExpected(), update_EKF2(), use_compass(), wind_estimate(), writeExtNavData(), and writeOptFlowMeas().

EKF3

NavEKF3& AP_AHRS_NavEKF::EKF3

private

Definition at line 273 of file AP_AHRS_NavEKF.h.

Referenced by active_EKF_type(), get_filter_status(), get_hagl(), get_hgt_ctrl_limit(), get_location(), get_mag_field_correction(), get_mag_field_NED(), get_NavEKF3(), get_NavEKF3_const(), get_origin(), get_position(), get_primary_IMU_index(), get_relative_position_D_origin(), get_relative_position_NE_origin(), get_relative_position_NED_origin(), get_variances(), get_velocity_NED(), get_vert_pos_rate(), getCorrectedDeltaVelocityNED(), getEkfControlLimits(), getLastPosDownReset(), getLastPosNorthEastReset(), getLastVelNorthEastReset(), getLastYawResetAngle(), getMagOffsets(), groundspeed_vector(), have_ekf_logging(), healthy(), prearm_failure_reason(), reset(), reset_attitude(), reset_gyro_drift(), resetHeightDatum(), send_ekf_status_report(), set_origin(), setInhibitGPS(), setTakeoffExpected(), setTouchdownExpected(), update_EKF3(), update_SITL(), use_compass(), wind_estimate(), writeBodyFrameOdom(), and writeOptFlowMeas().

start_time_ms

uint32_t AP_AHRS_NavEKF::start_time_ms = 0

private

Definition at line 284 of file AP_AHRS_NavEKF.h.

Referenced by initialised(), update_EKF2(), and update_EKF3().

startup_delay_ms

const uint16_t AP_AHRS_NavEKF::startup_delay_ms = 1000

private

Definition at line 283 of file AP_AHRS_NavEKF.h.

Referenced by update_EKF2(), and update_EKF3().

---

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

• libraries/AP_AHRS/AP_AHRS_NavEKF.h
• libraries/AP_AHRS/AP_AHRS_NavEKF.cpp