AP_InertialNav_NavEKF Class Reference

#include <AP_InertialNav_NavEKF.h>

Inheritance diagram for AP_InertialNav_NavEKF:

Collaboration diagram for AP_InertialNav_NavEKF:

Public Member Functions
	AP_InertialNav_NavEKF (AP_AHRS_NavEKF &ahrs)
void	update (float dt)
nav_filter_status	get_filter_status () const
struct Location	get_origin () const
const Vector3f &	get_position () const
bool	get_location (struct Location &loc) const
int32_t	get_latitude () const
int32_t	get_longitude () const
const Vector3f &	get_velocity () const
float	get_pos_z_derivative () const
float	get_velocity_xy () const
float	get_altitude () const
float	get_velocity_z () const
Public Member Functions inherited from AP_InertialNav
	AP_InertialNav ()

Private Attributes
Vector3f	_relpos_cm
Vector3f	_velocity_cm
float	_pos_z_rate
struct Location	_abspos
bool	_haveabspos
AP_AHRS_NavEKF &	_ahrs_ekf

Detailed Description

Definition at line 10 of file AP_InertialNav_NavEKF.h.

Constructor & Destructor Documentation

AP_InertialNav_NavEKF()

AP_InertialNav_NavEKF::AP_InertialNav_NavEKF ( AP_AHRS_NavEKF &  ahrs )

inline

Definition at line 14 of file AP_InertialNav_NavEKF.h.

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Member Function Documentation

get_altitude()

float AP_InertialNav_NavEKF::get_altitude ( ) const

virtual

get_altitude - get latest altitude estimate in cm

Returns

Implements AP_InertialNav.

Referenced by AP_InertialNav_NavEKF().

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get_filter_status()

nav_filter_status AP_InertialNav_NavEKF::get_filter_status ( ) const

virtual

get_filter_status - returns filter status as a series of flags

Implements AP_InertialNav.

Referenced by AP_InertialNav_NavEKF().

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get_latitude()

int32_t AP_InertialNav_NavEKF::get_latitude ( ) const

virtual

get_latitude - returns the latitude of the current position estimation in 100 nano degrees (i.e. degree value multiplied by 10,000,000)

Implements AP_InertialNav.

Referenced by AP_InertialNav_NavEKF().

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get_location()

bool AP_InertialNav_NavEKF::get_location ( struct Location &  loc ) const

virtual

get_llh - updates the provided location with the latest calculated location including absolute altitude returns true on success (i.e. the EKF knows it's latest position), false on failure

Implements AP_InertialNav.

Referenced by AP_InertialNav_NavEKF().

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get_longitude()

int32_t AP_InertialNav_NavEKF::get_longitude ( ) const

virtual

get_longitude - returns the longitude of the current position estimation in 100 nano degrees (i.e. degree value multiplied by 10,000,000)

Returns

Implements AP_InertialNav.

Referenced by AP_InertialNav_NavEKF().

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get_origin()

struct Location AP_InertialNav_NavEKF::get_origin ( ) const

virtual

get_origin - returns the inertial navigation origin in lat/lon/alt

Returns

origin Location

Implements AP_InertialNav.

get_pos_z_derivative()

float AP_InertialNav_NavEKF::get_pos_z_derivative

(

)

const

get_pos_z_derivative - returns the derivative of the z position in cm/s

Referenced by AP_InertialNav_NavEKF().

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get_position()

const Vector3f& AP_InertialNav_NavEKF::get_position ( ) const

virtual

get_position - returns the current position relative to the home location in cm.

the home location was set with AP_InertialNav::set_home_position(int32_t, int32_t)

Returns

Implements AP_InertialNav.

Referenced by AP_InertialNav_NavEKF().

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get_velocity()

const Vector3f& AP_InertialNav_NavEKF::get_velocity ( ) const

virtual

get_velocity - returns the current velocity in cm/s

Returns

velocity vector: .x : latitude velocity in cm/s .y : longitude velocity in cm/s .z : vertical velocity in cm/s

Implements AP_InertialNav.

Referenced by AP_InertialNav_NavEKF().

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get_velocity_xy()

float AP_InertialNav_NavEKF::get_velocity_xy ( ) const

virtual

get_velocity_xy - returns the current horizontal velocity in cm/s

Returns

the current horizontal velocity in cm/s

Implements AP_InertialNav.

Referenced by AP_InertialNav_NavEKF().

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get_velocity_z()

float AP_InertialNav_NavEKF::get_velocity_z ( ) const

virtual

get_velocity_z - returns the current climbrate.

See also

get_velocity().z

Returns

climbrate in cm/s

Implements AP_InertialNav.

Referenced by AP_InertialNav_NavEKF().

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update()

void AP_InertialNav_NavEKF::update ( float  dt )

virtual

update internal state

Implements AP_InertialNav.

Referenced by AP_InertialNav_NavEKF().

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Member Data Documentation

_abspos

struct Location AP_InertialNav_NavEKF::_abspos

private

Definition at line 104 of file AP_InertialNav_NavEKF.h.

_ahrs_ekf

AP_AHRS_NavEKF& AP_InertialNav_NavEKF::_ahrs_ekf

private

Definition at line 106 of file AP_InertialNav_NavEKF.h.

_haveabspos

bool AP_InertialNav_NavEKF::_haveabspos

private

Definition at line 105 of file AP_InertialNav_NavEKF.h.

_pos_z_rate

float AP_InertialNav_NavEKF::_pos_z_rate

private

Definition at line 103 of file AP_InertialNav_NavEKF.h.

_relpos_cm

Vector3f AP_InertialNav_NavEKF::_relpos_cm

private

Definition at line 101 of file AP_InertialNav_NavEKF.h.

_velocity_cm

Vector3f AP_InertialNav_NavEKF::_velocity_cm

private

Definition at line 102 of file AP_InertialNav_NavEKF.h.

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

• libraries/AP_InertialNav/AP_InertialNav_NavEKF.h