#include <AP_NavEKF2.h>

Collaboration diagram for NavEKF2:

Public Member Functions
	NavEKF2 (const AP_AHRS *ahrs, const RangeFinder &rng)

	NavEKF2 (const NavEKF2 &other)=delete

NavEKF2 &	operator= (const NavEKF2 &)=delete

uint8_t	activeCores (void) const

bool	InitialiseFilter (void)

void	UpdateFilter (void)

void	check_log_write (void)

bool	healthy (void) const

int8_t	getPrimaryCoreIndex (void) const

int8_t	getPrimaryCoreIMUIndex (void) const

bool	getPosNE (int8_t instance, Vector2f &posNE) const

bool	getPosD (int8_t instance, float &posD) const

void	getVelNED (int8_t instance, Vector3f &vel) const

float	getPosDownDerivative (int8_t instance) const

void	getAccelNED (Vector3f &accelNED) const

void	getGyroBias (int8_t instance, Vector3f &gyroBias) const

void	getGyroScaleErrorPercentage (int8_t instance, Vector3f &gyroScale) const

void	getTiltError (int8_t instance, float &ang) const

void	resetGyroBias (void)

bool	resetHeightDatum (void)

uint8_t	setInhibitGPS (void)

void	setInhibitGpsVertVelUse (const bool varIn)

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

void	getAccelZBias (int8_t instance, float &zbias) const

void	getWind (int8_t instance, Vector3f &wind) const

void	getMagNED (int8_t instance, Vector3f &magNED) const

void	getMagXYZ (int8_t instance, Vector3f &magXYZ) const

uint8_t	getActiveMag (int8_t instance) const

bool	getMagOffsets (uint8_t mag_idx, Vector3f &magOffsets) const

bool	getLLH (struct Location &loc) const

bool	getOriginLLH (int8_t instance, struct Location &loc) const

bool	setOriginLLH (const Location &loc)

bool	getHAGL (float &HAGL) const

void	getEulerAngles (int8_t instance, Vector3f &eulers) const

void	getRotationBodyToNED (Matrix3f &mat) const

void	getQuaternion (int8_t instance, Quaternion &quat) const

void	getInnovations (int8_t index, Vector3f &velInnov, Vector3f &posInnov, Vector3f &magInnov, float &tasInnov, float &yawInnov) const

void	getOutputTrackingError (int8_t instance, Vector3f &error) const

void	getVariances (int8_t instance, float &velVar, float &posVar, float &hgtVar, Vector3f &magVar, float &tasVar, Vector2f &offset) const

bool	use_compass (void) const

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

void	getFlowDebug (int8_t instance, float &varFlow, float &gndOffset, float &flowInnovX, float &flowInnovY, float &auxInnov, float &HAGL, float &rngInnov, float &range, float &gndOffsetErr) const

bool	getRangeBeaconDebug (int8_t instance, uint8_t &ID, float &rng, float &innov, float &innovVar, float &testRatio, Vector3f &beaconPosNED, float &offsetHigh, float &offsetLow) const

void	setTakeoffExpected (bool val)

void	setTouchdownExpected (bool val)

void	setTerrainHgtStable (bool val)

void	getFilterFaults (int8_t instance, uint16_t &faults) const

void	getFilterTimeouts (int8_t instance, uint8_t &timeouts) const

void	getFilterGpsStatus (int8_t instance, nav_gps_status &faults) const

void	getFilterStatus (int8_t instance, nav_filter_status &status) const

void	send_status_report (mavlink_channel_t chan)

bool	getHeightControlLimit (float &height) const

uint32_t	getLastYawResetAngle (float &yawAngDelta)

uint32_t	getLastPosNorthEastReset (Vector2f &posDelta)

uint32_t	getLastVelNorthEastReset (Vector2f &vel) const

uint32_t	getLastPosDownReset (float &posDelta)

const char *	prearm_failure_reason (void) const

void	set_baro_alt_noise (float noise)

void	set_enable (bool enable)

bool	have_ekf_logging (void) const

void	getTimingStatistics (int8_t instance, struct ekf_timing &timing) const

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

Static Public Attributes
static const struct AP_Param::GroupInfo	var_info []

Private Member Functions
void	updateLaneSwitchYawResetData (uint8_t new_primary, uint8_t old_primary)

void	updateLaneSwitchPosResetData (uint8_t new_primary, uint8_t old_primary)

void	updateLaneSwitchPosDownResetData (uint8_t new_primary, uint8_t old_primary)

Private Attributes
uint8_t	num_cores

uint8_t	primary

NavEKF2_core *	core = nullptr

const AP_AHRS *	_ahrs

const RangeFinder &	_rng

uint32_t	_frameTimeUsec

uint8_t	_framesPerPrediction

AP_Int8	_enable

AP_Float	_gpsHorizVelNoise

AP_Float	_gpsVertVelNoise

AP_Float	_gpsHorizPosNoise

AP_Float	_baroAltNoise

AP_Float	_magNoise

AP_Float	_easNoise

AP_Float	_windVelProcessNoise

AP_Float	_wndVarHgtRateScale

AP_Float	_magEarthProcessNoise

AP_Float	_magBodyProcessNoise

AP_Float	_gyrNoise

AP_Float	_accNoise

AP_Float	_gyroBiasProcessNoise

AP_Float	_accelBiasProcessNoise

AP_Int16	_gpsDelay_ms

AP_Int16	_hgtDelay_ms

AP_Int8	_fusionModeGPS

AP_Int16	_gpsVelInnovGate

AP_Int16	_gpsPosInnovGate

AP_Int16	_hgtInnovGate

AP_Int16	_magInnovGate

AP_Int16	_tasInnovGate

AP_Int8	_magCal

AP_Int8	_gpsGlitchRadiusMax

AP_Float	_flowNoise

AP_Int16	_flowInnovGate

AP_Int8	_flowDelay_ms

AP_Int16	_rngInnovGate

AP_Float	_maxFlowRate

AP_Int8	_altSource

AP_Float	_gyroScaleProcessNoise

AP_Float	_rngNoise

AP_Int8	_gpsCheck

AP_Int8	_imuMask

AP_Int16	_gpsCheckScaler

AP_Float	_noaidHorizNoise

AP_Int8	_logging_mask

AP_Float	_yawNoise

AP_Int16	_yawInnovGate

AP_Int8	_tauVelPosOutput

AP_Int8	_useRngSwHgt

AP_Float	_terrGradMax

AP_Float	_rngBcnNoise

AP_Int16	_rngBcnInnovGate

AP_Int8	_rngBcnDelay_ms

AP_Float	_useRngSwSpd

AP_Int8	_magMask

AP_Int8	_originHgtMode

const float	gpsNEVelVarAccScale = 0.05f

const float	gpsDVelVarAccScale = 0.07f

const float	gpsPosVarAccScale = 0.05f

const uint8_t	magDelay_ms = 60

const uint8_t	tasDelay_ms = 240

const uint16_t	tiltDriftTimeMax_ms = 15000

const uint16_t	posRetryTimeUseVel_ms = 10000

const uint16_t	posRetryTimeNoVel_ms = 7000

const uint16_t	hgtRetryTimeMode0_ms = 10000

const uint16_t	hgtRetryTimeMode12_ms = 5000

const uint16_t	tasRetryTime_ms = 5000

const uint16_t	magFailTimeLimit_ms = 10000

const float	magVarRateScale = 0.005f

const float	gyroBiasNoiseScaler = 2.0f

const uint8_t	hgtAvg_ms = 100

const uint8_t	betaAvg_ms = 100

const float	covTimeStepMax = 0.1f

const float	covDelAngMax = 0.05f

const float	DCM33FlowMin = 0.71f

const float	fScaleFactorPnoise = 1e-10f

const uint8_t	flowTimeDeltaAvg_ms = 100

const uint8_t	flowIntervalMax_ms = 100

const uint16_t	gndEffectTimeout_ms = 1000

const float	gndEffectBaroScaler = 4.0f

const uint8_t	gndGradientSigma = 50

const uint8_t	fusionTimeStep_ms = 10

struct {
bool enabled:1

bool log_compass:1

bool log_gps:1

bool log_baro:1

bool log_imu:1

}	logging

uint64_t	imuSampleTime_us

struct {
uint32_t last_function_call

bool core_changed

uint32_t last_primary_change

float core_delta

}	yaw_reset_data

struct {
uint32_t last_function_call

bool core_changed

uint32_t last_primary_change

Vector2f core_delta

}	pos_reset_data

struct {
uint32_t last_function_call

bool core_changed

uint32_t last_primary_change

float core_delta

}	pos_down_reset_data

bool	runCoreSelection

bool	inhibitGpsVertVelUse

Friends
class	NavEKF2_core

Detailed Description

Definition at line 37 of file AP_NavEKF2.h.

Constructor & Destructor Documentation

◆ NavEKF2() [1/2]

NavEKF2::NavEKF2	(	const AP_AHRS *	ahrs,
		const RangeFinder &	rng
	)

Definition at line 558 of file AP_NavEKF2.cpp.

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◆ NavEKF2() [2/2]

NavEKF2::NavEKF2 ( const NavEKF2 & other )

delete

Member Function Documentation

◆ activeCores()

uint8_t NavEKF2::activeCores ( void ) const

inline

Definition at line 50 of file AP_NavEKF2.h.

Referenced by DataFlash_Class::Log_Write_POS(), and GCS_MAVLINK::send_ahrs2().

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◆ check_log_write()

void NavEKF2::check_log_write ( void )

Definition at line 568 of file AP_NavEKF2.cpp.

Referenced by activeCores(), InitialiseFilter(), and UpdateFilter().

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◆ getAccelNED()

void NavEKF2::getAccelNED ( Vector3f & accelNED ) const

Definition at line 823 of file AP_NavEKF2.cpp.

Referenced by activeCores().

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◆ getAccelZBias()

void NavEKF2::getAccelZBias	(	int8_t	instance,
		float &	zbias
	)		const

Definition at line 911 of file AP_NavEKF2.cpp.

Referenced by AP_AHRS_NavEKF::getCorrectedDeltaVelocityNED(), DataFlash_Class::Log_Write_POS(), setInhibitGpsVertVelUse(), and AP_AHRS_NavEKF::update_EKF2().

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◆ getActiveMag()

uint8_t NavEKF2::getActiveMag ( int8_t instance ) const

Definition at line 947 of file AP_NavEKF2.cpp.

Referenced by DataFlash_Class::Log_Write_POS(), and setInhibitGpsVertVelUse().

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◆ getEkfControlLimits()

void NavEKF2::getEkfControlLimits	(	float &	ekfGndSpdLimit,
		float &	ekfNavVelGainScaler
	)		const

Definition at line 903 of file AP_NavEKF2.cpp.

Referenced by AP_AHRS_NavEKF::getEkfControlLimits(), and setInhibitGpsVertVelUse().

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◆ getEulerAngles()

void NavEKF2::getEulerAngles	(	int8_t	instance,
		Vector3f &	eulers
	)		const

Definition at line 1024 of file AP_NavEKF2.cpp.

Referenced by AP_AHRS_NavEKF::get_secondary_attitude(), DataFlash_Class::Log_Write_POS(), GCS_MAVLINK::send_ahrs2(), setInhibitGpsVertVelUse(), and AP_AHRS_NavEKF::update_EKF2().

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◆ getFilterFaults()

void NavEKF2::getFilterFaults	(	int8_t	instance,
		uint16_t &	faults
	)		const

Definition at line 1169 of file AP_NavEKF2.cpp.

Referenced by AP_AHRS_NavEKF::active_EKF_type(), DataFlash_Class::Log_Write_POS(), and setInhibitGpsVertVelUse().

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◆ getFilterGpsStatus()

void NavEKF2::getFilterGpsStatus	(	int8_t	instance,
		nav_gps_status &	faults
	)		const

Definition at line 1216 of file AP_NavEKF2.cpp.

Referenced by DataFlash_Class::Log_Write_POS(), and setInhibitGpsVertVelUse().

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◆ getFilterStatus()

void NavEKF2::getFilterStatus	(	int8_t	instance,
		nav_filter_status &	status
	)		const

Definition at line 1203 of file AP_NavEKF2.cpp.

Referenced by AP_AHRS_NavEKF::active_EKF_type(), AP_AHRS_NavEKF::get_filter_status(), DataFlash_Class::Log_Write_POS(), setInhibitGpsVertVelUse(), and AP_AHRS_NavEKF::update_EKF2().

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◆ getFilterTimeouts()

void NavEKF2::getFilterTimeouts	(	int8_t	instance,
		uint8_t &	timeouts
	)		const

Definition at line 1190 of file AP_NavEKF2.cpp.

Referenced by DataFlash_Class::Log_Write_POS(), and setInhibitGpsVertVelUse().

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◆ getFlowDebug()

void NavEKF2::getFlowDebug	(	int8_t	instance,
		float &	varFlow,
		float &	gndOffset,
		float &	flowInnovX,
		float &	flowInnovY,
		float &	auxInnov,
		float &	HAGL,
		float &	rngInnov,
		float &	range,
		float &	gndOffsetErr
	)		const

Definition at line 1103 of file AP_NavEKF2.cpp.

Referenced by DataFlash_Class::Log_Write_POS(), and setInhibitGpsVertVelUse().

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◆ getGyroBias()

void NavEKF2::getGyroBias	(	int8_t	instance,
		Vector3f &	gyroBias
	)		const

Definition at line 831 of file AP_NavEKF2.cpp.

Referenced by activeCores(), DataFlash_Class::Log_Write_POS(), and AP_AHRS_NavEKF::update_EKF2().

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◆ getGyroScaleErrorPercentage()

void NavEKF2::getGyroScaleErrorPercentage	(	int8_t	instance,
		Vector3f &	gyroScale
	)		const

Definition at line 840 of file AP_NavEKF2.cpp.

Referenced by activeCores(), and DataFlash_Class::Log_Write_POS().

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◆ getHAGL()

bool NavEKF2::getHAGL ( float & HAGL ) const

Definition at line 1015 of file AP_NavEKF2.cpp.

Referenced by AP_AHRS_NavEKF::get_hagl(), and setInhibitGpsVertVelUse().

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◆ getHeightControlLimit()

bool NavEKF2::getHeightControlLimit ( float & height ) const

Definition at line 1237 of file AP_NavEKF2.cpp.

Referenced by AP_AHRS_NavEKF::get_hgt_ctrl_limit(), and setInhibitGpsVertVelUse().

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◆ getInnovations()

void NavEKF2::getInnovations	(	int8_t	index,
		Vector3f &	velInnov,
		Vector3f &	posInnov,
		Vector3f &	magInnov,
		float &	tasInnov,
		float &	yawInnov
	)		const

Definition at line 1050 of file AP_NavEKF2.cpp.

Referenced by DataFlash_Class::Log_Write_POS(), and setInhibitGpsVertVelUse().

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◆ getLastPosDownReset()

uint32_t NavEKF2::getLastPosDownReset ( float & posDelta )

Definition at line 1343 of file AP_NavEKF2.cpp.

Referenced by AP_AHRS_NavEKF::getLastPosDownReset(), setInhibitGpsVertVelUse(), and updateLaneSwitchPosDownResetData().

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◆ getLastPosNorthEastReset()

uint32_t NavEKF2::getLastPosNorthEastReset ( Vector2f & posDelta )

Definition at line 1286 of file AP_NavEKF2.cpp.

Referenced by AP_AHRS_NavEKF::getLastPosNorthEastReset(), setInhibitGpsVertVelUse(), and updateLaneSwitchPosResetData().

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◆ getLastVelNorthEastReset()

uint32_t NavEKF2::getLastVelNorthEastReset ( Vector2f & vel ) const

Definition at line 1323 of file AP_NavEKF2.cpp.

Referenced by AP_AHRS_NavEKF::getLastVelNorthEastReset(), and setInhibitGpsVertVelUse().

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◆ getLastYawResetAngle()

uint32_t NavEKF2::getLastYawResetAngle ( float & yawAngDelta )

Definition at line 1248 of file AP_NavEKF2.cpp.

Referenced by AP_AHRS_NavEKF::getLastYawResetAngle(), setInhibitGpsVertVelUse(), and updateLaneSwitchYawResetData().

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◆ getLLH()

bool NavEKF2::getLLH ( struct Location & loc ) const

Definition at line 980 of file AP_NavEKF2.cpp.

Referenced by AP_AHRS_NavEKF::get_location(), AP_AHRS_NavEKF::get_position(), AP_AHRS_NavEKF::get_secondary_position(), GCS_MAVLINK::send_ahrs2(), and setInhibitGpsVertVelUse().

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◆ getMagNED()

void NavEKF2::getMagNED	(	int8_t	instance,
		Vector3f &	magNED
	)		const

Definition at line 929 of file AP_NavEKF2.cpp.

Referenced by AP_AHRS_NavEKF::get_mag_field_NED(), DataFlash_Class::Log_Write_POS(), and setInhibitGpsVertVelUse().

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◆ getMagOffsets()

bool NavEKF2::getMagOffsets	(	uint8_t	mag_idx,
		Vector3f &	magOffsets
	)		const

Definition at line 959 of file AP_NavEKF2.cpp.

Referenced by AP_AHRS_NavEKF::getMagOffsets(), and setInhibitGpsVertVelUse().

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◆ getMagXYZ()

void NavEKF2::getMagXYZ	(	int8_t	instance,
		Vector3f &	magXYZ
	)		const

Definition at line 938 of file AP_NavEKF2.cpp.

Referenced by AP_AHRS_NavEKF::get_mag_field_correction(), DataFlash_Class::Log_Write_POS(), and setInhibitGpsVertVelUse().

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◆ getOriginLLH()

bool NavEKF2::getOriginLLH	(	int8_t	instance,
		struct Location &	loc
	)		const

Definition at line 992 of file AP_NavEKF2.cpp.

Referenced by AP_AHRS_NavEKF::get_origin(), AP_AHRS_NavEKF::get_position(), DataFlash_Class::Log_Write_POS(), and setInhibitGpsVertVelUse().

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◆ getOutputTrackingError()

void NavEKF2::getOutputTrackingError	(	int8_t	instance,
		Vector3f &	error
	)		const

Definition at line 1059 of file AP_NavEKF2.cpp.

Referenced by DataFlash_Class::Log_Write_POS(), and setInhibitGpsVertVelUse().

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◆ getPosD()

bool NavEKF2::getPosD	(	int8_t	instance,
		float &	posD
	)		const

Definition at line 793 of file AP_NavEKF2.cpp.

Referenced by activeCores(), AP_AHRS_NavEKF::get_position(), AP_AHRS_NavEKF::get_relative_position_D_origin(), AP_AHRS_NavEKF::get_relative_position_NED_origin(), and DataFlash_Class::Log_Write_POS().

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◆ getPosDownDerivative()

float NavEKF2::getPosDownDerivative ( int8_t instance ) const

Definition at line 812 of file AP_NavEKF2.cpp.

Referenced by activeCores(), AP_AHRS_NavEKF::get_vert_pos_rate(), and DataFlash_Class::Log_Write_POS().

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◆ getPosNE()

bool NavEKF2::getPosNE	(	int8_t	instance,
		Vector2f &	posNE
	)		const

Definition at line 781 of file AP_NavEKF2.cpp.

Referenced by activeCores(), AP_AHRS_NavEKF::get_relative_position_NE_origin(), AP_AHRS_NavEKF::get_relative_position_NED_origin(), and DataFlash_Class::Log_Write_POS().

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◆ getPrimaryCoreIMUIndex()

int8_t NavEKF2::getPrimaryCoreIMUIndex ( void ) const

Definition at line 770 of file AP_NavEKF2.cpp.

Referenced by activeCores(), AP_AHRS_NavEKF::get_primary_IMU_index(), AP_AHRS_NavEKF::getCorrectedDeltaVelocityNED(), and AP_AHRS_NavEKF::update_EKF2().

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◆ getPrimaryCoreIndex()

int8_t NavEKF2::getPrimaryCoreIndex ( void ) const

Definition at line 760 of file AP_NavEKF2.cpp.

Referenced by activeCores(), and DataFlash_Class::Log_Write_POS().

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◆ getQuaternion()

void NavEKF2::getQuaternion	(	int8_t	instance,
		Quaternion &	quat
	)		const

Definition at line 1041 of file AP_NavEKF2.cpp.

Referenced by AP_AHRS_NavEKF::get_secondary_quaternion(), DataFlash_Class::Log_Write_POS(), and setInhibitGpsVertVelUse().

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◆ getRangeBeaconDebug()

bool NavEKF2::getRangeBeaconDebug	(	int8_t	instance,
		uint8_t &	ID,
		float &	rng,
		float &	innov,
		float &	innovVar,
		float &	testRatio,
		Vector3f &	beaconPosNED,
		float &	offsetHigh,
		float &	offsetLow
	)		const

Definition at line 1113 of file AP_NavEKF2.cpp.

Referenced by DataFlash_Class::Log_Write_POS(), and setInhibitGpsVertVelUse().

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◆ getRotationBodyToNED()

void NavEKF2::getRotationBodyToNED ( Matrix3f & mat ) const

Definition at line 1033 of file AP_NavEKF2.cpp.

Referenced by setInhibitGpsVertVelUse(), and AP_AHRS_NavEKF::update_EKF2().

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◆ getTiltError()

void NavEKF2::getTiltError	(	int8_t	instance,
		float &	ang
	)		const

Definition at line 849 of file AP_NavEKF2.cpp.

Referenced by activeCores(), and DataFlash_Class::Log_Write_POS().

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◆ getTimingStatistics()

void NavEKF2::getTimingStatistics	(	int8_t	instance,
		struct ekf_timing &	timing
	)		const

Definition at line 1459 of file AP_NavEKF2.cpp.

Referenced by have_ekf_logging(), and DataFlash_Class::Log_Write_POS().

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◆ getVariances()

void NavEKF2::getVariances	(	int8_t	instance,
		float &	velVar,
		float &	posVar,
		float &	hgtVar,
		Vector3f &	magVar,
		float &	tasVar,
		Vector2f &	offset
	)		const

Definition at line 1068 of file AP_NavEKF2.cpp.

Referenced by AP_AHRS_NavEKF::get_variances(), DataFlash_Class::Log_Write_POS(), and setInhibitGpsVertVelUse().

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◆ getVelNED()

void NavEKF2::getVelNED	(	int8_t	instance,
		Vector3f &	vel
	)		const

Definition at line 803 of file AP_NavEKF2.cpp.

Referenced by activeCores(), AP_AHRS_NavEKF::get_velocity_NED(), AP_AHRS_NavEKF::groundspeed_vector(), and DataFlash_Class::Log_Write_POS().

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◆ getWind()

void NavEKF2::getWind	(	int8_t	instance,
		Vector3f &	wind
	)		const

Definition at line 920 of file AP_NavEKF2.cpp.

Referenced by DataFlash_Class::Log_Write_POS(), setInhibitGpsVertVelUse(), and AP_AHRS_NavEKF::wind_estimate().

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◆ have_ekf_logging()

bool NavEKF2::have_ekf_logging ( void ) const

inline

Definition at line 321 of file AP_NavEKF2.h.

Referenced by check_log_write(), and AP_AHRS_NavEKF::have_ekf_logging().

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◆ healthy()

bool NavEKF2::healthy ( void ) const

Definition at line 750 of file AP_NavEKF2.cpp.

Referenced by AP_AHRS_NavEKF::active_EKF_type(), activeCores(), AP_AHRS_NavEKF::healthy(), and UpdateFilter().

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◆ InitialiseFilter()

bool NavEKF2::InitialiseFilter ( void )

Definition at line 596 of file AP_NavEKF2.cpp.

Referenced by activeCores(), AP_AHRS_NavEKF::reset(), AP_AHRS_NavEKF::reset_attitude(), and AP_AHRS_NavEKF::update_EKF2().

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◆ operator=()

NavEKF2& NavEKF2::operator= ( const NavEKF2 & )

delete

◆ prearm_failure_reason()

const char * NavEKF2::prearm_failure_reason ( void ) const

Definition at line 1332 of file AP_NavEKF2.cpp.

Referenced by AP_AHRS_NavEKF::prearm_failure_reason(), and setInhibitGpsVertVelUse().

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◆ resetGyroBias()

void NavEKF2::resetGyroBias ( void )

Definition at line 858 of file AP_NavEKF2.cpp.

Referenced by activeCores(), and AP_AHRS_NavEKF::reset_gyro_drift().

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◆ resetHeightDatum()

bool NavEKF2::resetHeightDatum ( void )

Definition at line 872 of file AP_NavEKF2.cpp.

Referenced by activeCores(), and AP_AHRS_NavEKF::resetHeightDatum().

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◆ send_status_report()

void NavEKF2::send_status_report ( mavlink_channel_t chan )

Definition at line 1227 of file AP_NavEKF2.cpp.

Referenced by AP_AHRS_NavEKF::send_ekf_status_report(), and setInhibitGpsVertVelUse().

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◆ set_baro_alt_noise()

void NavEKF2::set_baro_alt_noise ( float noise )

inline

Definition at line 315 of file AP_NavEKF2.h.

◆ set_enable()

void NavEKF2::set_enable ( bool enable )

inline

Definition at line 318 of file AP_NavEKF2.h.

◆ setInhibitGPS()

uint8_t NavEKF2::setInhibitGPS ( void )

Definition at line 893 of file AP_NavEKF2.cpp.

Referenced by activeCores(), and AP_AHRS_NavEKF::setInhibitGPS().

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◆ setInhibitGpsVertVelUse()

void NavEKF2::setInhibitGpsVertVelUse ( const bool varIn )

inline

Definition at line 131 of file AP_NavEKF2.h.

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◆ setOriginLLH()

bool NavEKF2::setOriginLLH ( const Location & loc )

Definition at line 1005 of file AP_NavEKF2.cpp.

Referenced by AP_AHRS_NavEKF::set_origin(), and setInhibitGpsVertVelUse().

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◆ setTakeoffExpected()

void NavEKF2::setTakeoffExpected ( bool val )

Definition at line 1125 of file AP_NavEKF2.cpp.

Referenced by setInhibitGpsVertVelUse(), and AP_AHRS_NavEKF::setTakeoffExpected().

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◆ setTerrainHgtStable()

void NavEKF2::setTerrainHgtStable ( bool val )

Definition at line 1148 of file AP_NavEKF2.cpp.

Referenced by setInhibitGpsVertVelUse().

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◆ setTouchdownExpected()

void NavEKF2::setTouchdownExpected ( bool val )

Definition at line 1136 of file AP_NavEKF2.cpp.

Referenced by setInhibitGpsVertVelUse(), and AP_AHRS_NavEKF::setTouchdownExpected().

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◆ UpdateFilter()

void NavEKF2::UpdateFilter ( void )

Definition at line 682 of file AP_NavEKF2.cpp.

Referenced by activeCores(), and AP_AHRS_NavEKF::update_EKF2().

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◆ updateLaneSwitchPosDownResetData()

void NavEKF2::updateLaneSwitchPosDownResetData	(	uint8_t	new_primary,
		uint8_t	old_primary
	)

private

Definition at line 1432 of file AP_NavEKF2.cpp.

Referenced by UpdateFilter().

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◆ updateLaneSwitchPosResetData()

void NavEKF2::updateLaneSwitchPosResetData	(	uint8_t	new_primary,
		uint8_t	old_primary
	)

private

Definition at line 1405 of file AP_NavEKF2.cpp.

Referenced by UpdateFilter().

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◆ updateLaneSwitchYawResetData()

void NavEKF2::updateLaneSwitchYawResetData	(	uint8_t	new_primary,
		uint8_t	old_primary
	)

private

Definition at line 1379 of file AP_NavEKF2.cpp.

Referenced by UpdateFilter().

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◆ use_compass()

bool NavEKF2::use_compass ( void ) const

Definition at line 1078 of file AP_NavEKF2.cpp.

Referenced by setInhibitGpsVertVelUse(), and AP_AHRS_NavEKF::use_compass().

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◆ writeExtNavData()

void NavEKF2::writeExtNavData	(	const Vector3f &	sensOffset,
		const Vector3f &	pos,
		const Quaternion &	quat,
		float	posErr,
		float	angErr,
		uint32_t	timeStamp_ms,
		uint32_t	resetTime_ms
	)

Definition at line 1482 of file AP_NavEKF2.cpp.

Referenced by have_ekf_logging(), and AP_AHRS_NavEKF::writeExtNavData().

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◆ writeOptFlowMeas()

void NavEKF2::writeOptFlowMeas	(	uint8_t &	rawFlowQuality,
		Vector2f &	rawFlowRates,
		Vector2f &	rawGyroRates,
		uint32_t &	msecFlowMeas,
		const Vector3f &	posOffset
	)

Definition at line 1093 of file AP_NavEKF2.cpp.

Referenced by setInhibitGpsVertVelUse(), and AP_AHRS_NavEKF::writeOptFlowMeas().

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Friends And Related Function Documentation

◆ NavEKF2_core

friend class NavEKF2_core

friend

Definition at line 38 of file AP_NavEKF2.h.

Referenced by InitialiseFilter().

Member Data Documentation

◆ _accelBiasProcessNoise

AP_Float NavEKF2::_accelBiasProcessNoise

private

Definition at line 364 of file AP_NavEKF2.h.

Referenced by NavEKF2_core::CovariancePrediction().

◆ _accNoise

AP_Float NavEKF2::_accNoise

private

Definition at line 362 of file AP_NavEKF2.h.

Referenced by NavEKF2_core::CovariancePrediction().

◆ _ahrs

const AP_AHRS* NavEKF2::_ahrs

private

Definition at line 343 of file AP_NavEKF2.h.

Referenced by check_log_write(), and NavEKF2_core::setup_core().

◆ _altSource

AP_Int8 NavEKF2::_altSource

private

Definition at line 380 of file AP_NavEKF2.h.

Referenced by NavEKF2_core::FuseVelPosNED(), NavEKF2_core::getHeightControlLimit(), NavEKF2_core::selectHeightForFusion(), and NavEKF2_core::updateFilterStatus().

◆ _baroAltNoise

AP_Float NavEKF2::_baroAltNoise

private

Definition at line 354 of file AP_NavEKF2.h.

Referenced by NavEKF2_core::CovarianceInit(), NavEKF2_core::selectHeightForFusion(), and set_baro_alt_noise().

◆ _easNoise

AP_Float NavEKF2::_easNoise

private

Definition at line 356 of file AP_NavEKF2.h.

Referenced by NavEKF2_core::FuseAirspeed(), and NavEKF2_core::setWindMagStateLearningMode().

◆ _enable

AP_Int8 NavEKF2::_enable

private

Definition at line 350 of file AP_NavEKF2.h.

Referenced by InitialiseFilter(), and set_enable().

◆ _flowDelay_ms

AP_Int8 NavEKF2::_flowDelay_ms

private

Definition at line 377 of file AP_NavEKF2.h.

Referenced by NavEKF2_core::writeOptFlowMeas().

◆ _flowInnovGate

AP_Int16 NavEKF2::_flowInnovGate

private

Definition at line 376 of file AP_NavEKF2.h.

Referenced by NavEKF2_core::EstimateTerrainOffset(), and NavEKF2_core::FuseOptFlow().

◆ _flowNoise

AP_Float NavEKF2::_flowNoise

private

Definition at line 375 of file AP_NavEKF2.h.

Referenced by NavEKF2_core::SelectFlowFusion().

◆ _framesPerPrediction

uint8_t NavEKF2::_framesPerPrediction

private

Definition at line 347 of file AP_NavEKF2.h.

Referenced by InitialiseFilter(), and UpdateFilter().

◆ _frameTimeUsec

uint32_t NavEKF2::_frameTimeUsec

private

Definition at line 346 of file AP_NavEKF2.h.

Referenced by InitialiseFilter(), and UpdateFilter().

◆ _fusionModeGPS

AP_Int8 NavEKF2::_fusionModeGPS

private

Definition at line 367 of file AP_NavEKF2.h.

Referenced by NavEKF2_core::calcGpsGoodToAlign(), NavEKF2_core::FuseVelPosNED(), NavEKF2_core::getHeightControlLimit(), NavEKF2_core::readGpsData(), NavEKF2_core::readyToUseGPS(), NavEKF2_core::ResetHeight(), NavEKF2_core::SelectVelPosFusion(), and NavEKF2_core::setAidingMode().

◆ _gpsCheck

AP_Int8 NavEKF2::_gpsCheck

private

Definition at line 383 of file AP_NavEKF2.h.

Referenced by NavEKF2_core::calcGpsGoodToAlign().

◆ _gpsCheckScaler

AP_Int16 NavEKF2::_gpsCheckScaler

private

Definition at line 385 of file AP_NavEKF2.h.

Referenced by NavEKF2_core::calcGpsGoodToAlign().

◆ _gpsDelay_ms

AP_Int16 NavEKF2::_gpsDelay_ms

private

Definition at line 365 of file AP_NavEKF2.h.

Referenced by NavEKF2_core::readGpsData().

◆ _gpsGlitchRadiusMax

AP_Int8 NavEKF2::_gpsGlitchRadiusMax

private

Definition at line 374 of file AP_NavEKF2.h.

Referenced by NavEKF2_core::FuseVelPosNED().

◆ _gpsHorizPosNoise

AP_Float NavEKF2::_gpsHorizPosNoise

private

Definition at line 353 of file AP_NavEKF2.h.

Referenced by NavEKF2_core::CovarianceInit(), NavEKF2_core::FuseVelPosNED(), NavEKF2_core::ResetPosition(), and NavEKF2_core::selectHeightForFusion().

◆ _gpsHorizVelNoise

AP_Float NavEKF2::_gpsHorizVelNoise

private

Definition at line 351 of file AP_NavEKF2.h.

Referenced by NavEKF2_core::CovarianceInit(), NavEKF2_core::FuseVelPosNED(), and NavEKF2_core::ResetVelocity().

◆ _gpsPosInnovGate

AP_Int16 NavEKF2::_gpsPosInnovGate

private

Definition at line 369 of file AP_NavEKF2.h.

Referenced by NavEKF2_core::FuseVelPosNED().

◆ _gpsVelInnovGate

AP_Int16 NavEKF2::_gpsVelInnovGate

private

Definition at line 368 of file AP_NavEKF2.h.

Referenced by NavEKF2_core::FuseVelPosNED().

◆ _gpsVertVelNoise

AP_Float NavEKF2::_gpsVertVelNoise

private

Definition at line 352 of file AP_NavEKF2.h.

Referenced by NavEKF2_core::CovarianceInit(), NavEKF2_core::FuseVelPosNED(), and NavEKF2_core::ResetHeight().

◆ _gyrNoise

AP_Float NavEKF2::_gyrNoise

private

Definition at line 361 of file AP_NavEKF2.h.

Referenced by NavEKF2_core::CovariancePrediction().

◆ _gyroBiasProcessNoise

AP_Float NavEKF2::_gyroBiasProcessNoise

private

Definition at line 363 of file AP_NavEKF2.h.

Referenced by NavEKF2_core::CovariancePrediction().

◆ _gyroScaleProcessNoise

AP_Float NavEKF2::_gyroScaleProcessNoise

private

Definition at line 381 of file AP_NavEKF2.h.

Referenced by NavEKF2_core::CovariancePrediction().

◆ _hgtDelay_ms

AP_Int16 NavEKF2::_hgtDelay_ms

private

Definition at line 366 of file AP_NavEKF2.h.

Referenced by NavEKF2_core::readBaroData().

◆ _hgtInnovGate

AP_Int16 NavEKF2::_hgtInnovGate

private

Definition at line 370 of file AP_NavEKF2.h.

Referenced by NavEKF2_core::FuseVelPosNED().

◆ _imuMask

AP_Int8 NavEKF2::_imuMask

private

Definition at line 384 of file AP_NavEKF2.h.

Referenced by InitialiseFilter().

◆ _logging_mask

AP_Int8 NavEKF2::_logging_mask

private

Definition at line 387 of file AP_NavEKF2.h.

Referenced by check_log_write(), and have_ekf_logging().

◆ _magBodyProcessNoise

AP_Float NavEKF2::_magBodyProcessNoise

private

Definition at line 360 of file AP_NavEKF2.h.

Referenced by NavEKF2_core::CovariancePrediction().

◆ _magCal

AP_Int8 NavEKF2::_magCal

private

Definition at line 373 of file AP_NavEKF2.h.

Referenced by NavEKF2_core::effective_magCal().

◆ _magEarthProcessNoise

AP_Float NavEKF2::_magEarthProcessNoise

private

Definition at line 359 of file AP_NavEKF2.h.

Referenced by NavEKF2_core::CovariancePrediction().

◆ _magInnovGate

AP_Int16 NavEKF2::_magInnovGate

private

Definition at line 371 of file AP_NavEKF2.h.

Referenced by NavEKF2_core::FuseMagnetometer().

◆ _magMask

AP_Int8 NavEKF2::_magMask

private

Definition at line 397 of file AP_NavEKF2.h.

Referenced by NavEKF2_core::effective_magCal().

◆ _magNoise

AP_Float NavEKF2::_magNoise

private

Definition at line 355 of file AP_NavEKF2.h.

Referenced by NavEKF2_core::calcQuatAndFieldStates(), NavEKF2_core::FuseMagnetometer(), and NavEKF2_core::setWindMagStateLearningMode().

◆ _maxFlowRate

AP_Float NavEKF2::_maxFlowRate

private

Definition at line 379 of file AP_NavEKF2.h.

Referenced by NavEKF2_core::EstimateTerrainOffset(), NavEKF2_core::FuseOptFlow(), and NavEKF2_core::getEkfControlLimits().

◆ _noaidHorizNoise

AP_Float NavEKF2::_noaidHorizNoise

private

Definition at line 386 of file AP_NavEKF2.h.

Referenced by NavEKF2_core::FuseVelPosNED().

◆ _originHgtMode

AP_Int8 NavEKF2::_originHgtMode

private

Definition at line 398 of file AP_NavEKF2.h.

Referenced by NavEKF2_core::getOriginLLH(), NavEKF2_core::getPosD(), and NavEKF2_core::selectHeightForFusion().

◆ _rng

const RangeFinder& NavEKF2::_rng

private

Definition at line 344 of file AP_NavEKF2.h.

Referenced by NavEKF2_core::getHeightControlLimit(), NavEKF2_core::readRangeFinder(), and NavEKF2_core::selectHeightForFusion().

◆ _rngBcnDelay_ms

AP_Int8 NavEKF2::_rngBcnDelay_ms

private

Definition at line 395 of file AP_NavEKF2.h.

Referenced by NavEKF2_core::readRngBcnData().

◆ _rngBcnInnovGate

AP_Int16 NavEKF2::_rngBcnInnovGate

private

Definition at line 394 of file AP_NavEKF2.h.

Referenced by NavEKF2_core::FuseRngBcn().

◆ _rngBcnNoise

AP_Float NavEKF2::_rngBcnNoise

private

Definition at line 393 of file AP_NavEKF2.h.

Referenced by NavEKF2_core::readRngBcnData().

◆ _rngInnovGate

AP_Int16 NavEKF2::_rngInnovGate

private

Definition at line 378 of file AP_NavEKF2.h.

Referenced by NavEKF2_core::EstimateTerrainOffset().

◆ _rngNoise

AP_Float NavEKF2::_rngNoise

private

Definition at line 382 of file AP_NavEKF2.h.

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

◆ _tasInnovGate

AP_Int16 NavEKF2::_tasInnovGate

private

Definition at line 372 of file AP_NavEKF2.h.

Referenced by NavEKF2_core::FuseAirspeed().

◆ _tauVelPosOutput

AP_Int8 NavEKF2::_tauVelPosOutput

private

Definition at line 390 of file AP_NavEKF2.h.

Referenced by NavEKF2_core::calcOutputStates().

◆ _terrGradMax

AP_Float NavEKF2::_terrGradMax

private

Definition at line 392 of file AP_NavEKF2.h.

Referenced by NavEKF2_core::selectHeightForFusion().

◆ _useRngSwHgt

AP_Int8 NavEKF2::_useRngSwHgt

private

Definition at line 391 of file AP_NavEKF2.h.

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

◆ _useRngSwSpd

AP_Float NavEKF2::_useRngSwSpd

private

Definition at line 396 of file AP_NavEKF2.h.

Referenced by NavEKF2_core::selectHeightForFusion().

◆ _windVelProcessNoise

AP_Float NavEKF2::_windVelProcessNoise

private

Definition at line 357 of file AP_NavEKF2.h.

Referenced by NavEKF2_core::CovariancePrediction().

◆ _wndVarHgtRateScale

AP_Float NavEKF2::_wndVarHgtRateScale

private

Definition at line 358 of file AP_NavEKF2.h.

Referenced by NavEKF2_core::CovariancePrediction().

◆ _yawInnovGate

AP_Int16 NavEKF2::_yawInnovGate

private

Definition at line 389 of file AP_NavEKF2.h.

Referenced by NavEKF2_core::fuseEulerYaw().

◆ _yawNoise

AP_Float NavEKF2::_yawNoise

private

Definition at line 388 of file AP_NavEKF2.h.

Referenced by NavEKF2_core::fuseEulerYaw().

◆ betaAvg_ms

const uint8_t NavEKF2::betaAvg_ms = 100

private

Definition at line 416 of file AP_NavEKF2.h.

Referenced by NavEKF2_core::SelectBetaFusion().

◆ core

NavEKF2_core* NavEKF2::core = nullptr

private

Definition at line 342 of file AP_NavEKF2.h.

Referenced by getAccelNED(), getAccelZBias(), getActiveMag(), getEkfControlLimits(), getEulerAngles(), getFilterFaults(), getFilterGpsStatus(), getFilterStatus(), getFilterTimeouts(), getFlowDebug(), getGyroBias(), getGyroScaleErrorPercentage(), getHAGL(), getHeightControlLimit(), getInnovations(), getLastPosDownReset(), getLastPosNorthEastReset(), getLastVelNorthEastReset(), getLastYawResetAngle(), getLLH(), getMagNED(), getMagOffsets(), getMagXYZ(), getOriginLLH(), getOutputTrackingError(), getPosD(), getPosDownDerivative(), getPosNE(), getPrimaryCoreIMUIndex(), getPrimaryCoreIndex(), getQuaternion(), getRangeBeaconDebug(), getRotationBodyToNED(), getTiltError(), getTimingStatistics(), getVariances(), getVelNED(), getWind(), healthy(), InitialiseFilter(), prearm_failure_reason(), resetGyroBias(), resetHeightDatum(), send_status_report(), setInhibitGPS(), setOriginLLH(), setTakeoffExpected(), setTerrainHgtStable(), setTouchdownExpected(), UpdateFilter(), updateLaneSwitchPosDownResetData(), updateLaneSwitchPosResetData(), updateLaneSwitchYawResetData(), use_compass(), writeExtNavData(), and writeOptFlowMeas().

◆ core_changed

bool NavEKF2::core_changed

Definition at line 441 of file AP_NavEKF2.h.

◆ core_delta [1/2]

float NavEKF2::core_delta

Definition at line 443 of file AP_NavEKF2.h.

◆ core_delta [2/2]

Vector2f NavEKF2::core_delta

Definition at line 450 of file AP_NavEKF2.h.

◆ covDelAngMax

const float NavEKF2::covDelAngMax = 0.05f

private

Definition at line 418 of file AP_NavEKF2.h.

◆ covTimeStepMax

const float NavEKF2::covTimeStepMax = 0.1f

private

Definition at line 417 of file AP_NavEKF2.h.

◆ DCM33FlowMin

const float NavEKF2::DCM33FlowMin = 0.71f

private

Definition at line 419 of file AP_NavEKF2.h.

Referenced by NavEKF2_core::SelectFlowFusion().

◆ enabled

bool NavEKF2::enabled

Definition at line 429 of file AP_NavEKF2.h.

◆ flowIntervalMax_ms

const uint8_t NavEKF2::flowIntervalMax_ms = 100

private

Definition at line 422 of file AP_NavEKF2.h.

◆ flowTimeDeltaAvg_ms

const uint8_t NavEKF2::flowTimeDeltaAvg_ms = 100

private

Definition at line 421 of file AP_NavEKF2.h.

Referenced by NavEKF2_core::writeOptFlowMeas().

◆ fScaleFactorPnoise

const float NavEKF2::fScaleFactorPnoise = 1e-10f

private

Definition at line 420 of file AP_NavEKF2.h.

◆ fusionTimeStep_ms

const uint8_t NavEKF2::fusionTimeStep_ms = 10

private

Definition at line 426 of file AP_NavEKF2.h.

◆ gndEffectBaroScaler

const float NavEKF2::gndEffectBaroScaler = 4.0f

private

Definition at line 424 of file AP_NavEKF2.h.

Referenced by NavEKF2_core::selectHeightForFusion().

◆ gndEffectTimeout_ms

const uint16_t NavEKF2::gndEffectTimeout_ms = 1000

private

Definition at line 423 of file AP_NavEKF2.h.

Referenced by NavEKF2_core::getTakeoffExpected(), and NavEKF2_core::getTouchdownExpected().

◆ gndGradientSigma

const uint8_t NavEKF2::gndGradientSigma = 50

private

Definition at line 425 of file AP_NavEKF2.h.

Referenced by NavEKF2_core::EstimateTerrainOffset().

◆ gpsDVelVarAccScale

const float NavEKF2::gpsDVelVarAccScale = 0.07f

private

Definition at line 402 of file AP_NavEKF2.h.

Referenced by NavEKF2_core::FuseVelPosNED().

◆ gpsNEVelVarAccScale

const float NavEKF2::gpsNEVelVarAccScale = 0.05f

private

Definition at line 401 of file AP_NavEKF2.h.

Referenced by NavEKF2_core::FuseVelPosNED().

◆ gpsPosVarAccScale

const float NavEKF2::gpsPosVarAccScale = 0.05f

private

Definition at line 403 of file AP_NavEKF2.h.

Referenced by NavEKF2_core::FuseVelPosNED().

◆ gyroBiasNoiseScaler

const float NavEKF2::gyroBiasNoiseScaler = 2.0f

private

Definition at line 414 of file AP_NavEKF2.h.

◆ hgtAvg_ms

const uint8_t NavEKF2::hgtAvg_ms = 100

private

Definition at line 415 of file AP_NavEKF2.h.

Referenced by NavEKF2_core::selectHeightForFusion().

◆ hgtRetryTimeMode0_ms

const uint16_t NavEKF2::hgtRetryTimeMode0_ms = 10000

private

Definition at line 409 of file AP_NavEKF2.h.

Referenced by NavEKF2_core::selectHeightForFusion().

◆ hgtRetryTimeMode12_ms

const uint16_t NavEKF2::hgtRetryTimeMode12_ms = 5000

private

Definition at line 410 of file AP_NavEKF2.h.

Referenced by NavEKF2_core::selectHeightForFusion().

◆ imuSampleTime_us

uint64_t NavEKF2::imuSampleTime_us

private

Definition at line 437 of file AP_NavEKF2.h.

Referenced by check_log_write(), getLastPosDownReset(), getLastPosNorthEastReset(), getLastYawResetAngle(), InitialiseFilter(), NavEKF2_core::InitialiseVariables(), UpdateFilter(), NavEKF2_core::UpdateFilter(), updateLaneSwitchPosDownResetData(), updateLaneSwitchPosResetData(), and updateLaneSwitchYawResetData().

◆ inhibitGpsVertVelUse

bool NavEKF2::inhibitGpsVertVelUse

private

Definition at line 462 of file AP_NavEKF2.h.

Referenced by NavEKF2_core::FuseVelPosNED(), NavEKF2_core::readGpsData(), NavEKF2_core::ResetHeight(), and setInhibitGpsVertVelUse().

◆ last_function_call

uint32_t NavEKF2::last_function_call

Definition at line 440 of file AP_NavEKF2.h.

◆ last_primary_change

uint32_t NavEKF2::last_primary_change

Definition at line 442 of file AP_NavEKF2.h.

◆ log_baro

bool NavEKF2::log_baro

Definition at line 432 of file AP_NavEKF2.h.

Referenced by NavEKF2_core::readBaroData().

◆ log_compass

bool NavEKF2::log_compass

Definition at line 430 of file AP_NavEKF2.h.

Referenced by NavEKF2_core::readMagData().

◆ log_gps

bool NavEKF2::log_gps

Definition at line 431 of file AP_NavEKF2.h.

Referenced by NavEKF2_core::readGpsData().

◆ log_imu

bool NavEKF2::log_imu

Definition at line 433 of file AP_NavEKF2.h.

Referenced by NavEKF2_core::readDeltaAngle().

◆ logging

struct { ... } NavEKF2::logging

Referenced by check_log_write(), have_ekf_logging(), InitialiseFilter(), NavEKF2_core::readBaroData(), NavEKF2_core::readDeltaAngle(), NavEKF2_core::readGpsData(), and NavEKF2_core::readMagData().

◆ magDelay_ms

const uint8_t NavEKF2::magDelay_ms = 60

private

Definition at line 404 of file AP_NavEKF2.h.

Referenced by NavEKF2_core::readMagData().

◆ magFailTimeLimit_ms

const uint16_t NavEKF2::magFailTimeLimit_ms = 10000

private

Definition at line 412 of file AP_NavEKF2.h.

Referenced by NavEKF2_core::SelectMagFusion().

◆ magVarRateScale

const float NavEKF2::magVarRateScale = 0.005f

private

Definition at line 413 of file AP_NavEKF2.h.

Referenced by NavEKF2_core::FuseMagnetometer().

◆ num_cores

uint8_t NavEKF2::num_cores

private

◆ pos_down_reset_data

struct { ... } NavEKF2::pos_down_reset_data

Referenced by getLastPosDownReset(), InitialiseFilter(), and updateLaneSwitchPosDownResetData().

◆ pos_reset_data

struct { ... } NavEKF2::pos_reset_data

Referenced by getLastPosNorthEastReset(), InitialiseFilter(), and updateLaneSwitchPosResetData().

◆ posRetryTimeNoVel_ms

const uint16_t NavEKF2::posRetryTimeNoVel_ms = 7000

private

Definition at line 408 of file AP_NavEKF2.h.

Referenced by NavEKF2_core::SelectBetaFusion(), and NavEKF2_core::setAidingMode().

◆ posRetryTimeUseVel_ms

const uint16_t NavEKF2::posRetryTimeUseVel_ms = 10000

private

Definition at line 407 of file AP_NavEKF2.h.

Referenced by NavEKF2_core::setAidingMode().

◆ primary

uint8_t NavEKF2::primary

private

Definition at line 341 of file AP_NavEKF2.h.

Referenced by getAccelNED(), getAccelZBias(), getActiveMag(), getEkfControlLimits(), getEulerAngles(), getFilterFaults(), getFilterGpsStatus(), getFilterStatus(), getFilterTimeouts(), getFlowDebug(), getGyroBias(), getGyroScaleErrorPercentage(), getHAGL(), getHeightControlLimit(), getInnovations(), getLastPosDownReset(), getLastPosNorthEastReset(), getLastVelNorthEastReset(), getLastYawResetAngle(), getLLH(), getMagNED(), getMagOffsets(), getMagXYZ(), getOriginLLH(), getOutputTrackingError(), getPosD(), getPosDownDerivative(), getPosNE(), getPrimaryCoreIMUIndex(), getPrimaryCoreIndex(), getQuaternion(), getRangeBeaconDebug(), getRotationBodyToNED(), getTiltError(), getTimingStatistics(), getVariances(), getVelNED(), getWind(), healthy(), InitialiseFilter(), prearm_failure_reason(), send_status_report(), setInhibitGPS(), setOriginLLH(), UpdateFilter(), and use_compass().

◆ runCoreSelection

bool NavEKF2::runCoreSelection

private

Definition at line 460 of file AP_NavEKF2.h.

Referenced by UpdateFilter().

◆ tasDelay_ms

const uint8_t NavEKF2::tasDelay_ms = 240

private

Definition at line 405 of file AP_NavEKF2.h.

Referenced by NavEKF2_core::readAirSpdData().

◆ tasRetryTime_ms

const uint16_t NavEKF2::tasRetryTime_ms = 5000

private

Definition at line 411 of file AP_NavEKF2.h.

Referenced by NavEKF2_core::FuseAirspeed(), and NavEKF2_core::SelectTasFusion().

◆ tiltDriftTimeMax_ms

const uint16_t NavEKF2::tiltDriftTimeMax_ms = 15000

private

Definition at line 406 of file AP_NavEKF2.h.

Referenced by NavEKF2_core::setAidingMode().

◆ var_info

const AP_Param::GroupInfo NavEKF2::var_info

static

Definition at line 47 of file AP_NavEKF2.h.

Referenced by NavEKF2().

◆ yaw_reset_data

struct { ... } NavEKF2::yaw_reset_data

Referenced by getLastYawResetAngle(), InitialiseFilter(), and updateLaneSwitchYawResetData().

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

libraries/AP_NavEKF2/AP_NavEKF2.h
libraries/AP_NavEKF2/AP_NavEKF2.cpp

Public Member Functions

Static Public Attributes

Private Member Functions

Private Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

◆ NavEKF2() [1/2]

◆ NavEKF2() [2/2]

Member Function Documentation

◆ activeCores()

◆ check_log_write()

◆ getAccelNED()

◆ getAccelZBias()

◆ getActiveMag()

◆ getEkfControlLimits()

◆ getEulerAngles()

◆ getFilterFaults()

◆ getFilterGpsStatus()

◆ getFilterStatus()

◆ getFilterTimeouts()

◆ getFlowDebug()

◆ getGyroBias()

◆ getGyroScaleErrorPercentage()

◆ getHAGL()

◆ getHeightControlLimit()

◆ getInnovations()

◆ getLastPosDownReset()

◆ getLastPosNorthEastReset()

◆ getLastVelNorthEastReset()

◆ getLastYawResetAngle()

◆ getLLH()

◆ getMagNED()

◆ getMagOffsets()

◆ getMagXYZ()

◆ getOriginLLH()

◆ getOutputTrackingError()

◆ getPosD()

◆ getPosDownDerivative()

◆ getPosNE()

◆ getPrimaryCoreIMUIndex()

◆ getPrimaryCoreIndex()

◆ getQuaternion()

◆ getRangeBeaconDebug()

◆ getRotationBodyToNED()

◆ getTiltError()

◆ getTimingStatistics()

◆ getVariances()

◆ getVelNED()

◆ getWind()

◆ have_ekf_logging()

◆ healthy()

◆ InitialiseFilter()

◆ operator=()

◆ prearm_failure_reason()

◆ resetGyroBias()

◆ resetHeightDatum()

◆ send_status_report()

◆ set_baro_alt_noise()

◆ set_enable()

◆ setInhibitGPS()

◆ setInhibitGpsVertVelUse()

◆ setOriginLLH()

◆ setTakeoffExpected()

◆ setTerrainHgtStable()

◆ setTouchdownExpected()

◆ UpdateFilter()

◆ updateLaneSwitchPosDownResetData()

◆ updateLaneSwitchPosResetData()

◆ updateLaneSwitchYawResetData()

◆ use_compass()

◆ writeExtNavData()

◆ writeOptFlowMeas()

Friends And Related Function Documentation

◆ NavEKF2_core

Member Data Documentation

◆ _accelBiasProcessNoise

◆ _accNoise

◆ _ahrs

◆ _altSource