#include <AP_NavEKF2_core.h>

Collaboration diagram for NavEKF2_core:

Classes
struct	baro_elements

struct	ext_nav_elements

struct	gps_elements

struct	imu_elements

struct	mag_elements

struct	of_elements

struct	output_elements

struct	range_elements

struct	rng_bcn_elements

struct	state_elements

struct	tas_elements

Public Member Functions
	NavEKF2_core (void)

bool	setup_core (NavEKF2 *_frontend, uint8_t _imu_index, uint8_t _core_index)

bool	InitialiseFilterBootstrap (void)

void	UpdateFilter (bool predict)

bool	healthy (void) const

float	errorScore (void) const

bool	getPosNE (Vector2f &posNE) const

bool	getPosD (float &posD) const

void	getVelNED (Vector3f &vel) const

float	getPosDownDerivative (void) const

void	getAccelNED (Vector3f &accelNED) const

void	getGyroBias (Vector3f &gyroBias) const

void	getGyroScaleErrorPercentage (Vector3f &gyroScale) const

void	getTiltError (float &ang) const

void	resetGyroBias (void)

bool	resetHeightDatum (void)

uint8_t	setInhibitGPS (void)

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

void	getAccelZBias (float &zbias) const

void	getWind (Vector3f &wind) const

void	getMagNED (Vector3f &magNED) const

void	getMagXYZ (Vector3f &magXYZ) const

uint8_t	getActiveMag () const

bool	getMagOffsets (uint8_t mag_idx, Vector3f &magOffsets) const

bool	getLLH (struct Location &loc) const

bool	getOriginLLH (struct Location &loc) const

bool	setOriginLLH (const Location &loc)

bool	getHAGL (float &HAGL) const

void	getEulerAngles (Vector3f &eulers) const

void	getRotationBodyToNED (Matrix3f &mat) const

void	getQuaternion (Quaternion &quat) const

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

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

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

void	setTakeoffExpected (bool val)

void	setTouchdownExpected (bool val)

void	setTerrainHgtStable (bool val)

void	getFilterFaults (uint16_t &faults) const

void	getFilterTimeouts (uint8_t &timeouts) const

void	getFilterGpsStatus (nav_gps_status &status) const

void	getFilterStatus (nav_filter_status &status) const

void	send_status_report (mavlink_channel_t chan)

bool	getHeightControlLimit (float &height) const

uint32_t	getLastYawResetAngle (float &yawAng) const

uint32_t	getLastPosNorthEastReset (Vector2f &pos) const

uint32_t	getLastPosDownReset (float &posD) const

uint32_t	getLastVelNorthEastReset (Vector2f &vel) const

const char *	prearm_failure_reason (void) const

uint8_t	getFramesSincePredict (void) const

void	getOutputTrackingError (Vector3f &error) const

uint8_t	getIMUIndex (void) const

void	getTimingStatistics (struct ekf_timing &timing)

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

Private Types
enum	AidingMode { AID_ABSOLUTE =0, AID_NONE =1, AID_RELATIVE =2 }

typedef float	ftype

typedef ftype	Vector2[2]

typedef ftype	Vector3[3]

typedef ftype	Vector4[4]

typedef ftype	Vector5[5]

typedef ftype	Vector6[6]

typedef ftype	Vector7[7]

typedef ftype	Vector8[8]

typedef ftype	Vector9[9]

typedef ftype	Vector10[10]

typedef ftype	Vector11[11]

typedef ftype	Vector13[13]

typedef ftype	Vector14[14]

typedef ftype	Vector15[15]

typedef ftype	Vector22[22]

typedef ftype	Vector23[23]

typedef ftype	Vector24[24]

typedef ftype	Vector25[25]

typedef ftype	Vector28[28]

typedef ftype	Matrix3[3][3]

typedef ftype	Matrix24[24][24]

typedef ftype	Matrix34_50[34][50]

typedef uint32_t	Vector_u32_50[50]

Private Member Functions
void	updateFilterStatus (void)

void	UpdateStrapdownEquationsNED ()

void	CovariancePrediction ()

void	ForceSymmetry ()

void	CopyCovariances ()

void	ConstrainVariances ()

void	ConstrainStates ()

void	FuseVelPosNED ()

void	FuseRngBcn ()

void	FuseRngBcnStatic ()

void	CalcRangeBeaconPosDownOffset (float obsVar, Vector3f &vehiclePosNED, bool aligning)

void	FuseMagnetometer ()

void	FuseAirspeed ()

void	FuseSideslip ()

void	zeroRows (Matrix24 &covMat, uint8_t first, uint8_t last)

void	zeroCols (Matrix24 &covMat, uint8_t first, uint8_t last)

void	StoreOutputReset (void)

void	StoreQuatReset (void)

void	StoreQuatRotate (Quaternion deltaQuat)

void	StoreBaro ()

bool	RecallBaro ()

void	StoreRange ()

bool	RecallRange ()

void	StoreMag ()

bool	RecallMag ()

void	StoreTAS ()

bool	RecallTAS ()

void	StoreOF ()

bool	RecallOF ()

void	quat2Tbn (Matrix3f &Tbn, const Quaternion &quat) const

void	calcEarthRateNED (Vector3f &omega, int32_t latitude) const

void	CovarianceInit ()

bool	readDeltaVelocity (uint8_t ins_index, Vector3f &dVel, float &dVel_dt)

bool	readDeltaAngle (uint8_t ins_index, Vector3f &dAng, float &dAng_dt)

void	correctDeltaAngle (Vector3f &delAng, float delAngDT)

void	correctDeltaVelocity (Vector3f &delVel, float delVelDT)

void	readIMUData ()

void	readGpsData ()

void	readBaroData ()

void	readMagData ()

void	readAirSpdData ()

void	readRngBcnData ()

void	SelectVelPosFusion ()

void	SelectRngBcnFusion ()

void	SelectMagFusion ()

void	SelectTasFusion ()

void	SelectBetaFusion ()

void	realignYawGPS ()

Quaternion	calcQuatAndFieldStates (float roll, float pitch)

void	InitialiseVariables ()

void	ResetPosition (void)

void	ResetVelocity (void)

void	ResetHeight (void)

bool	useAirspeed (void) const

bool	readyToUseGPS (void) const

bool	readyToUseRangeBeacon (void) const

bool	readyToUseExtNav (void) const

void	checkDivergence (void)

void	calcIMU_Weighting (float K1, float K2)

bool	optFlowDataPresent (void) const

bool	useRngFinder (void) const

void	SelectFlowFusion ()

void	EstimateTerrainOffset ()

void	FuseOptFlow ()

void	controlFilterModes ()

void	detectFlight ()

void	setAidingMode ()

void	setWindMagStateLearningMode ()

void	checkAttitudeAlignmentStatus ()

void	controlMagYawReset ()

void	setOrigin ()

bool	getTakeoffExpected ()

bool	getTouchdownExpected ()

bool	calcGpsGoodToAlign (void)

bool	checkGyroCalStatus (void)

void	calcGpsGoodForFlight (void)

void	readRangeFinder ()

void	detectOptFlowTakeoff (void)

void	alignMagStateDeclination ()

void	fuseEulerYaw ()

void	FuseDeclination (float declErr)

void	calcOutputStates ()

void	calcFiltBaroOffset ()

void	correctEkfOriginHeight ()

void	selectHeightForFusion ()

void	zeroAttCovOnly ()

void	recordYawReset ()

void	recordMagReset ()

uint8_t	effective_magCal (void) const

void	updateTimingStatistics (void)

bool	assume_zero_sideslip (void) const

float	InitialGyroBiasUncertainty (void) const

Private Attributes
NavEKF2 *	frontend

uint8_t	imu_index

uint8_t	core_index

uint8_t	imu_buffer_length

const AP_AHRS *	_ahrs

Vector28	statesArray

struct NavEKF2_core::state_elements &	stateStruct

bool	statesInitialised

bool	velHealth

bool	posHealth

bool	hgtHealth

bool	magHealth

bool	tasHealth

bool	velTimeout

bool	posTimeout

bool	hgtTimeout

bool	magTimeout

bool	tasTimeout

bool	badMagYaw

bool	badIMUdata

float	gpsNoiseScaler

Vector28	Kfusion

Matrix24	KH

Matrix24	KHP

Matrix24	P

imu_ring_buffer_t< imu_elements >	storedIMU

obs_ring_buffer_t< gps_elements >	storedGPS

obs_ring_buffer_t< mag_elements >	storedMag

obs_ring_buffer_t< baro_elements >	storedBaro

obs_ring_buffer_t< tas_elements >	storedTAS

obs_ring_buffer_t< range_elements >	storedRange

imu_ring_buffer_t< output_elements >	storedOutput

Matrix3f	prevTnb

ftype	accNavMag

ftype	accNavMagHoriz

Vector3f	earthRateNED

ftype	dtIMUavg

ftype	dtEkfAvg

ftype	dt

ftype	hgtRate

bool	onGround

bool	prevOnGround

bool	inFlight

bool	prevInFlight

bool	manoeuvring

uint32_t	airborneDetectTime_ms

Vector6	innovVelPos

Vector6	varInnovVelPos

Vector6	velPosObs

bool	fuseVelData

bool	fusePosData

bool	fuseHgtData

Vector3f	innovMag

Vector3f	varInnovMag

ftype	innovVtas

ftype	varInnovVtas

bool	magFusePerformed

bool	magFuseRequired

uint32_t	prevTasStep_ms

uint32_t	prevBetaStep_ms

uint32_t	lastMagUpdate_us

Vector3f	velDotNED

Vector3f	velDotNEDfilt

uint32_t	imuSampleTime_ms

bool	tasDataToFuse

uint32_t	lastBaroReceived_ms

uint16_t	hgtRetryTime_ms

uint32_t	lastVelPassTime_ms

uint32_t	lastPosPassTime_ms

uint32_t	lastHgtPassTime_ms

uint32_t	lastTasPassTime_ms

uint32_t	lastTimeGpsReceived_ms

uint32_t	timeAtLastAuxEKF_ms

uint32_t	secondLastGpsTime_ms

uint32_t	lastHealthyMagTime_ms

bool	allMagSensorsFailed

uint32_t	lastYawTime_ms

uint32_t	ekfStartTime_ms

Matrix24	nextP

Vector24	processNoise

Vector25	SF

Vector5	SG

Vector8	SQ

Vector23	SPP

Vector2f	lastKnownPositionNE

uint32_t	lastDecayTime_ms

float	velTestRatio

float	posTestRatio

float	hgtTestRatio

Vector3f	magTestRatio

float	tasTestRatio

bool	inhibitWindStates

bool	inhibitMagStates

bool	gpsNotAvailable

uint8_t	last_gps_idx

struct Location	EKF_origin

bool	validOrigin

float	gpsSpdAccuracy

float	gpsPosAccuracy

float	gpsHgtAccuracy

uint32_t	lastGpsVelFail_ms

uint32_t	lastGpsAidBadTime_ms

float	posDownAtTakeoff

bool	useGpsVertVel

float	yawResetAngle

uint32_t	lastYawReset_ms

Vector3f	tiltErrVec

float	tiltErrFilt

bool	tiltAlignComplete

bool	yawAlignComplete

bool	magStateInitComplete

uint8_t	stateIndexLim

imu_elements	imuDataDelayed

imu_elements	imuDataNew

imu_elements	imuDataDownSampledNew

Quaternion	imuQuatDownSampleNew

uint8_t	fifoIndexNow

uint8_t	fifoIndexDelayed

baro_elements	baroDataNew

baro_elements	baroDataDelayed

uint8_t	baroStoreIndex

range_elements	rangeDataNew

range_elements	rangeDataDelayed

uint8_t	rangeStoreIndex

tas_elements	tasDataNew

tas_elements	tasDataDelayed

uint8_t	tasStoreIndex

mag_elements	magDataNew

mag_elements	magDataDelayed

uint8_t	magStoreIndex

gps_elements	gpsDataNew

gps_elements	gpsDataDelayed

uint8_t	gpsStoreIndex

output_elements	outputDataNew

output_elements	outputDataDelayed

Vector3f	delAngCorrection

Vector3f	velErrintegral

Vector3f	posErrintegral

float	innovYaw

uint32_t	timeTasReceived_ms

bool	gpsGoodToAlign

uint32_t	magYawResetTimer_ms

bool	consistentMagData

bool	motorsArmed

bool	prevMotorsArmed

bool	posVelFusionDelayed

bool	optFlowFusionDelayed

bool	airSpdFusionDelayed

bool	sideSlipFusionDelayed

Vector3f	lastMagOffsets

bool	lastMagOffsetsValid

Vector2f	posResetNE

uint32_t	lastPosReset_ms

Vector2f	velResetNE

uint32_t	lastVelReset_ms

float	posResetD

uint32_t	lastPosResetD_ms

float	yawTestRatio

Quaternion	prevQuatMagReset

uint8_t	fusionHorizonOffset

float	hgtInnovFiltState

uint8_t	magSelectIndex

bool	runUpdates

uint32_t	framesSincePredict

bool	startPredictEnabled

uint8_t	localFilterTimeStep_ms

float	posDownObsNoise

Vector3f	delAngCorrected

Vector3f	delVelCorrected

bool	magFieldLearned

Vector3f	earthMagFieldVar

Vector3f	bodyMagFieldVar

bool	delAngBiasLearned

nav_filter_status	filterStatus

float	ekfOriginHgtVar

double	ekfGpsRefHgt

uint32_t	lastOriginHgtTime_ms

Vector3f	outputTrackError

Vector3f	velOffsetNED

Vector3f	posOffsetNED

float	posDownDerivative

float	posDown

struct Location	gpsloc_prev

uint32_t	lastPreAlignGpsCheckTime_ms

float	gpsDriftNE

float	gpsVertVelFilt

float	gpsHorizVelFilt

bool	gpsSpdAccPass

bool	ekfInnovationsPass

float	sAccFilterState1

float	sAccFilterState2

uint32_t	lastGpsCheckTime_ms

uint32_t	lastInnovPassTime_ms

uint32_t	lastInnovFailTime_ms

bool	gpsAccuracyGood

float	innovationIncrement

float	lastInnovation

obs_ring_buffer_t< of_elements >	storedOF

of_elements	ofDataNew

of_elements	ofDataDelayed

uint8_t	ofStoreIndex

bool	flowDataToFuse

bool	flowDataValid

bool	fuseOptFlowData

float	auxFlowObsInnov

float	auxFlowObsInnovVar

uint32_t	flowValidMeaTime_ms

uint32_t	rngValidMeaTime_ms

uint32_t	flowMeaTime_ms

uint32_t	gndHgtValidTime_ms

Matrix3f	Tbn_flow

Vector2	varInnovOptFlow

Vector2	innovOptFlow

float	Popt

float	terrainState

float	prevPosN

float	prevPosE

float	varInnovRng

float	innovRng

float	hgtMea

bool	inhibitGndState

uint32_t	prevFlowFuseTime_ms

Vector2	flowTestRatio

float	auxFlowTestRatio

float	R_LOS

float	auxRngTestRatio

Vector2f	flowGyroBias

bool	rangeDataToFuse

bool	baroDataToFuse

bool	gpsDataToFuse

bool	magDataToFuse

Vector2f	heldVelNE

AidingMode	PV_AidingMode

AidingMode	PV_AidingModePrev

bool	gpsInhibit

bool	gndOffsetValid

Vector3f	delAngBodyOF

float	delTimeOF

Vector3f	accelPosOffset

float	baroHgtOffset

float	rngOnGnd

float	storedRngMeas [2][3]

uint32_t	storedRngMeasTime_ms [2][3]

uint32_t	lastRngMeasTime_ms

uint8_t	rngMeasIndex [2]

bool	terrainHgtStable

uint32_t	terrainHgtStableSet_ms

obs_ring_buffer_t< rng_bcn_elements >	storedRangeBeacon

rng_bcn_elements	rngBcnDataNew

rng_bcn_elements	rngBcnDataDelayed

uint8_t	rngBcnStoreIndex

uint32_t	lastRngBcnPassTime_ms

float	rngBcnTestRatio

bool	rngBcnHealth

bool	rngBcnTimeout

float	varInnovRngBcn

float	innovRngBcn

uint32_t	lastTimeRngBcn_ms [10]

bool	rngBcnDataToFuse

Vector3f	beaconVehiclePosNED

float	beaconVehiclePosErr

uint32_t	rngBcnLast3DmeasTime_ms

bool	rngBcnGoodToAlign

uint8_t	lastRngBcnChecked

Vector3f	receiverPos

float	receiverPosCov [3][3]

bool	rngBcnAlignmentStarted

bool	rngBcnAlignmentCompleted

uint8_t	lastBeaconIndex

Vector3f	rngBcnPosSum

uint8_t	numBcnMeas

float	rngSum

uint8_t	N_beacons

float	maxBcnPosD

float	minBcnPosD

float	bcnPosOffset

float	bcnPosOffsetMax

float	bcnPosOffsetMaxVar

float	OffsetMaxInnovFilt

float	bcnPosOffsetMin

float	bcnPosOffsetMinVar

float	OffsetMinInnovFilt

uint8_t	rngBcnFuseDataReportIndex

struct {
float rng

float innov

float innovVar

float testRatio

Vector3f beaconPosNED

}	rngBcnFusionReport [10]

uint8_t	activeHgtSource

bool	takeOffDetected

float	rngAtStartOfFlight

uint32_t	timeAtArming_ms

bool	expectGndEffectTakeoff

uint32_t	takeoffExpectedSet_ms

bool	expectGndEffectTouchdown

uint32_t	touchdownExpectedSet_ms

float	meaHgtAtTakeOff

bool	finalInflightYawInit

bool	finalInflightMagInit

bool	magStateResetRequest

bool	magYawResetRequest

bool	gpsYawResetRequest

float	posDownAtLastMagReset

float	yawInnovAtLastMagReset

Quaternion	quatAtLastMagReset

obs_ring_buffer_t< ext_nav_elements >	storedExtNav

ext_nav_elements	extNavDataNew

ext_nav_elements	extNavDataDelayed

uint32_t	extNavMeasTime_ms

uint32_t	extNavLastPosResetTime_ms

bool	extNavDataToFuse

bool	extNavUsedForYaw

bool	extNavUsedForPos

bool	extNavYawResetRequest

struct {
bool bad_xmag:1

bool bad_ymag:1

bool bad_zmag:1

bool bad_airspeed:1

bool bad_sideslip:1

bool bad_nvel:1

bool bad_evel:1

bool bad_dvel:1

bool bad_npos:1

bool bad_epos:1

bool bad_dpos:1

bool bad_yaw:1

bool bad_decl:1

bool bad_xflow:1

bool bad_yflow:1

bool bad_rngbcn:1

}	faultStatus

struct {
bool bad_sAcc:1

bool bad_hAcc:1

bool bad_vAcc:1

bool bad_yaw:1

bool bad_sats:1

bool bad_VZ:1

bool bad_horiz_drift:1

bool bad_hdop:1

bool bad_vert_vel:1

bool bad_fix:1

bool bad_horiz_vel:1

}	gpsCheckStatus

struct {
ftype q0

ftype q1

ftype q2

ftype q3

ftype magN

ftype magE

ftype magD

ftype magXbias

ftype magYbias

ftype magZbias

uint8_t obsIndex

Matrix3f DCM

Vector3f MagPred

ftype R_MAG

Vector9 SH_MAG

}	mag_state

char	prearm_fail_string [40]

AP_HAL::Util::perf_counter_t	_perf_UpdateFilter

AP_HAL::Util::perf_counter_t	_perf_CovariancePrediction

AP_HAL::Util::perf_counter_t	_perf_FuseVelPosNED

AP_HAL::Util::perf_counter_t	_perf_FuseMagnetometer

AP_HAL::Util::perf_counter_t	_perf_FuseAirspeed

AP_HAL::Util::perf_counter_t	_perf_FuseSideslip

AP_HAL::Util::perf_counter_t	_perf_TerrainOffset

AP_HAL::Util::perf_counter_t	_perf_FuseOptFlow

AP_HAL::Util::perf_counter_t	_perf_test [10]

struct ekf_timing	timing

Static Private Attributes
static const uint32_t	OBS_BUFFER_LENGTH = 5

Detailed Description

Definition at line 59 of file AP_NavEKF2_core.h.

Member Typedef Documentation

◆ ftype

typedef float NavEKF2_core::ftype

private

Definition at line 331 of file AP_NavEKF2_core.h.

◆ Matrix24

typedef ftype NavEKF2_core::Matrix24[24][24]

private

Definition at line 376 of file AP_NavEKF2_core.h.

◆ Matrix3

typedef ftype NavEKF2_core::Matrix3[3][3]

private

Definition at line 375 of file AP_NavEKF2_core.h.

◆ Matrix34_50

typedef ftype NavEKF2_core::Matrix34_50[34][50]

private

Definition at line 377 of file AP_NavEKF2_core.h.

◆ Vector10

typedef ftype NavEKF2_core::Vector10[10]

private

Definition at line 365 of file AP_NavEKF2_core.h.

◆ Vector11

typedef ftype NavEKF2_core::Vector11[11]

private

Definition at line 366 of file AP_NavEKF2_core.h.

◆ Vector13

typedef ftype NavEKF2_core::Vector13[13]

private

Definition at line 367 of file AP_NavEKF2_core.h.

◆ Vector14

typedef ftype NavEKF2_core::Vector14[14]

private

Definition at line 368 of file AP_NavEKF2_core.h.

◆ Vector15

typedef ftype NavEKF2_core::Vector15[15]

private

Definition at line 369 of file AP_NavEKF2_core.h.

◆ Vector2

typedef ftype NavEKF2_core::Vector2[2]

private

Definition at line 357 of file AP_NavEKF2_core.h.

◆ Vector22

typedef ftype NavEKF2_core::Vector22[22]

private

Definition at line 370 of file AP_NavEKF2_core.h.

◆ Vector23

typedef ftype NavEKF2_core::Vector23[23]

private

Definition at line 371 of file AP_NavEKF2_core.h.

◆ Vector24

typedef ftype NavEKF2_core::Vector24[24]

private

Definition at line 372 of file AP_NavEKF2_core.h.

◆ Vector25

typedef ftype NavEKF2_core::Vector25[25]

private

Definition at line 373 of file AP_NavEKF2_core.h.

◆ Vector28

typedef ftype NavEKF2_core::Vector28[28]

private

Definition at line 374 of file AP_NavEKF2_core.h.

◆ Vector3

typedef ftype NavEKF2_core::Vector3[3]

private

Definition at line 358 of file AP_NavEKF2_core.h.

◆ Vector4

typedef ftype NavEKF2_core::Vector4[4]

private

Definition at line 359 of file AP_NavEKF2_core.h.

◆ Vector5

typedef ftype NavEKF2_core::Vector5[5]

private

Definition at line 360 of file AP_NavEKF2_core.h.

◆ Vector6

typedef ftype NavEKF2_core::Vector6[6]

private

Definition at line 361 of file AP_NavEKF2_core.h.

◆ Vector7

typedef ftype NavEKF2_core::Vector7[7]

private

Definition at line 362 of file AP_NavEKF2_core.h.

◆ Vector8

typedef ftype NavEKF2_core::Vector8[8]

private

Definition at line 363 of file AP_NavEKF2_core.h.

◆ Vector9

typedef ftype NavEKF2_core::Vector9[9]

private

Definition at line 364 of file AP_NavEKF2_core.h.

◆ Vector_u32_50

typedef uint32_t NavEKF2_core::Vector_u32_50[50]

private

Definition at line 378 of file AP_NavEKF2_core.h.

Member Enumeration Documentation

◆ AidingMode

enum NavEKF2_core::AidingMode

private

Enumerator
AID_ABSOLUTE
AID_NONE
AID_RELATIVE

Definition at line 989 of file AP_NavEKF2_core.h.

Constructor & Destructor Documentation

◆ NavEKF2_core()

NavEKF2_core::NavEKF2_core ( void )

Definition at line 27 of file AP_NavEKF2_core.cpp.

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Member Function Documentation

◆ alignMagStateDeclination()

void NavEKF2_core::alignMagStateDeclination ( )

private

Definition at line 1124 of file AP_NavEKF2_MagFusion.cpp.

Referenced by calcQuatAndFieldStates(), readGpsData(), readRngBcnData(), and setWindMagStateLearningMode().

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◆ assume_zero_sideslip()

bool NavEKF2_core::assume_zero_sideslip ( void ) const

private

Definition at line 417 of file AP_NavEKF2_Control.cpp.

Referenced by calcGpsGoodToAlign(), controlMagYawReset(), detectFlight(), InitialiseFilterBootstrap(), readMagData(), SelectBetaFusion(), setWindMagStateLearningMode(), and updateFilterStatus().

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◆ calcEarthRateNED()

void NavEKF2_core::calcEarthRateNED	(	Vector3f &	omega,
		int32_t	latitude
	)		const

private

Definition at line 1443 of file AP_NavEKF2_core.cpp.

Referenced by InitialiseFilterBootstrap(), setOrigin(), and setOriginLLH().

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◆ calcFiltBaroOffset()

void NavEKF2_core::calcFiltBaroOffset ( )

private

Definition at line 591 of file AP_NavEKF2_Measurements.cpp.

Referenced by selectHeightForFusion().

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◆ calcGpsGoodForFlight()

void NavEKF2_core::calcGpsGoodForFlight ( void )

private

Definition at line 240 of file AP_NavEKF2_VehicleStatus.cpp.

Referenced by readGpsData().

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◆ calcGpsGoodToAlign()

bool NavEKF2_core::calcGpsGoodToAlign ( void )

private

Definition at line 23 of file AP_NavEKF2_VehicleStatus.cpp.

Referenced by readGpsData().

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◆ calcIMU_Weighting()

void NavEKF2_core::calcIMU_Weighting	(	float	K1,
		float	K2
	)

private

◆ calcOutputStates()

void NavEKF2_core::calcOutputStates ( )

private

Definition at line 648 of file AP_NavEKF2_core.cpp.

Referenced by UpdateFilter().

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◆ calcQuatAndFieldStates()

Quaternion NavEKF2_core::calcQuatAndFieldStates	(	float	roll,
		float	pitch
	)

private

Definition at line 1453 of file AP_NavEKF2_core.cpp.

Referenced by controlMagYawReset().

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◆ CalcRangeBeaconPosDownOffset()

void NavEKF2_core::CalcRangeBeaconPosDownOffset	(	float	obsVar,
		Vector3f &	vehiclePosNED,
		bool	aligning
	)

private

Definition at line 472 of file AP_NavEKF2_RngBcnFusion.cpp.

Referenced by FuseRngBcn(), and FuseRngBcnStatic().

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◆ checkAttitudeAlignmentStatus()

void NavEKF2_core::checkAttitudeAlignmentStatus ( )

private

Definition at line 348 of file AP_NavEKF2_Control.cpp.

Referenced by controlFilterModes().

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◆ checkDivergence()

void NavEKF2_core::checkDivergence ( void )

private

◆ checkGyroCalStatus()

bool NavEKF2_core::checkGyroCalStatus ( void )

private

Definition at line 465 of file AP_NavEKF2_Control.cpp.

Referenced by setAidingMode().

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◆ ConstrainStates()

void NavEKF2_core::ConstrainStates ( )

private

Definition at line 1414 of file AP_NavEKF2_core.cpp.

Referenced by UpdateStrapdownEquationsNED().

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◆ ConstrainVariances()

void NavEKF2_core::ConstrainVariances ( )

private

Definition at line 1392 of file AP_NavEKF2_core.cpp.

Referenced by CovariancePrediction(), FuseAirspeed(), FuseDeclination(), fuseEulerYaw(), FuseMagnetometer(), FuseOptFlow(), FuseRngBcn(), FuseSideslip(), and FuseVelPosNED().

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◆ controlFilterModes()

void NavEKF2_core::controlFilterModes ( )

private

Definition at line 17 of file AP_NavEKF2_Control.cpp.

Referenced by UpdateFilter().

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◆ controlMagYawReset()

void NavEKF2_core::controlMagYawReset ( )

private

Definition at line 20 of file AP_NavEKF2_MagFusion.cpp.

Referenced by SelectMagFusion(), SelectVelPosFusion(), and setAidingMode().

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◆ CopyCovariances()

void NavEKF2_core::CopyCovariances ( )

private

Definition at line 1380 of file AP_NavEKF2_core.cpp.

Referenced by CovariancePrediction().

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◆ correctDeltaAngle()

void NavEKF2_core::correctDeltaAngle	(	Vector3f &	delAng,
		float	delAngDT
	)

private

Definition at line 560 of file AP_NavEKF2_core.cpp.

Referenced by calcOutputStates(), and readIMUData().

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◆ correctDeltaVelocity()

void NavEKF2_core::correctDeltaVelocity	(	Vector3f &	delVel,
		float	delVelDT
	)

private

Definition at line 568 of file AP_NavEKF2_core.cpp.

Referenced by calcOutputStates(), and readIMUData().

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◆ correctEkfOriginHeight()

void NavEKF2_core::correctEkfOriginHeight ( )

private

Definition at line 598 of file AP_NavEKF2_Measurements.cpp.

Referenced by selectHeightForFusion().

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◆ CovarianceInit()

void NavEKF2_core::CovarianceInit ( )

private

Definition at line 446 of file AP_NavEKF2_core.cpp.

Referenced by FuseAirspeed(), fuseEulerYaw(), FuseMagnetometer(), FuseRngBcn(), FuseSideslip(), and InitialiseFilterBootstrap().

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◆ CovariancePrediction()

void NavEKF2_core::CovariancePrediction ( )

private

Definition at line 792 of file AP_NavEKF2_core.cpp.

Referenced by UpdateFilter().

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◆ detectFlight()

void NavEKF2_core::detectFlight ( )

private

Definition at line 295 of file AP_NavEKF2_VehicleStatus.cpp.

Referenced by controlFilterModes().

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◆ detectOptFlowTakeoff()

void NavEKF2_core::detectOptFlowTakeoff ( void )

private

Definition at line 451 of file AP_NavEKF2_VehicleStatus.cpp.

Referenced by writeOptFlowMeas().

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◆ effective_magCal()

uint8_t NavEKF2_core::effective_magCal ( void ) const

private

Definition at line 46 of file AP_NavEKF2_Control.cpp.

Referenced by setWindMagStateLearningMode().

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◆ errorScore()

float NavEKF2_core::errorScore ( void ) const

Definition at line 44 of file AP_NavEKF2_Outputs.cpp.

Referenced by NavEKF2::UpdateFilter().

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◆ EstimateTerrainOffset()

void NavEKF2_core::EstimateTerrainOffset ( )

private

Definition at line 81 of file AP_NavEKF2_OptFlowFusion.cpp.

Referenced by SelectFlowFusion().

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◆ ForceSymmetry()

void NavEKF2_core::ForceSymmetry ( )

private

Definition at line 1366 of file AP_NavEKF2_core.cpp.

Referenced by FuseAirspeed(), FuseDeclination(), fuseEulerYaw(), FuseMagnetometer(), FuseOptFlow(), FuseRngBcn(), FuseSideslip(), and FuseVelPosNED().

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◆ FuseAirspeed()

void NavEKF2_core::FuseAirspeed ( )

private

Definition at line 27 of file AP_NavEKF2_AirDataFusion.cpp.

Referenced by SelectTasFusion().

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◆ FuseDeclination()

void NavEKF2_core::FuseDeclination ( float declErr )

private

Definition at line 999 of file AP_NavEKF2_MagFusion.cpp.

Referenced by alignMagStateDeclination(), and SelectMagFusion().

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◆ fuseEulerYaw()

void NavEKF2_core::fuseEulerYaw ( )

private

Definition at line 762 of file AP_NavEKF2_MagFusion.cpp.

Referenced by SelectMagFusion(), and SelectVelPosFusion().

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◆ FuseMagnetometer()

void NavEKF2_core::FuseMagnetometer ( )

private

Definition at line 325 of file AP_NavEKF2_MagFusion.cpp.

Referenced by SelectMagFusion().

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◆ FuseOptFlow()

void NavEKF2_core::FuseOptFlow ( )

private

Definition at line 263 of file AP_NavEKF2_OptFlowFusion.cpp.

Referenced by SelectFlowFusion().

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◆ FuseRngBcn()

void NavEKF2_core::FuseRngBcn ( )

private

Definition at line 37 of file AP_NavEKF2_RngBcnFusion.cpp.

Referenced by SelectRngBcnFusion().

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◆ FuseRngBcnStatic()

void NavEKF2_core::FuseRngBcnStatic ( )

private

Definition at line 256 of file AP_NavEKF2_RngBcnFusion.cpp.

Referenced by SelectRngBcnFusion().

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◆ FuseSideslip()

void NavEKF2_core::FuseSideslip ( )

private

Definition at line 253 of file AP_NavEKF2_AirDataFusion.cpp.

Referenced by SelectBetaFusion().

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◆ FuseVelPosNED()

void NavEKF2_core::FuseVelPosNED ( )

private

Definition at line 402 of file AP_NavEKF2_PosVelFusion.cpp.

Referenced by SelectVelPosFusion().

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◆ getAccelNED()

void NavEKF2_core::getAccelNED ( Vector3f & accelNED ) const

Definition at line 225 of file AP_NavEKF2_Outputs.cpp.

Referenced by NavEKF2::getAccelNED().

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◆ getAccelZBias()

void NavEKF2_core::getAccelZBias ( float & zbias ) const

Definition at line 231 of file AP_NavEKF2_Outputs.cpp.

Referenced by NavEKF2::getAccelZBias().

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◆ getActiveMag()

uint8_t NavEKF2_core::getActiveMag ( ) const

Definition at line 430 of file AP_NavEKF2_Outputs.cpp.

Referenced by NavEKF2::getActiveMag().

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◆ getEkfControlLimits()

void NavEKF2_core::getEkfControlLimits	(	float &	ekfGndSpdLimit,
		float &	ekfNavVelGainScaler
	)		const

Definition at line 365 of file AP_NavEKF2_Outputs.cpp.

Referenced by NavEKF2::getEkfControlLimits().

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◆ getEulerAngles()

void NavEKF2_core::getEulerAngles ( Vector3f & eulers ) const

Definition at line 120 of file AP_NavEKF2_Outputs.cpp.

Referenced by NavEKF2::getEulerAngles(), and NavEKF2::updateLaneSwitchYawResetData().

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◆ getFilterFaults()

void NavEKF2_core::getFilterFaults ( uint16_t & faults ) const

Definition at line 479 of file AP_NavEKF2_Outputs.cpp.

Referenced by NavEKF2::getFilterFaults(), and healthy().

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◆ getFilterGpsStatus()

void NavEKF2_core::getFilterGpsStatus ( nav_gps_status & status ) const

Definition at line 520 of file AP_NavEKF2_Outputs.cpp.

Referenced by NavEKF2::getFilterGpsStatus().

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◆ getFilterStatus()

void NavEKF2_core::getFilterStatus ( nav_filter_status & status ) const

Definition at line 512 of file AP_NavEKF2_Outputs.cpp.

Referenced by NavEKF2::getFilterStatus().

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◆ getFilterTimeouts()

void NavEKF2_core::getFilterTimeouts ( uint8_t & timeouts ) const

Definition at line 502 of file AP_NavEKF2_Outputs.cpp.

Referenced by NavEKF2::getFilterTimeouts().

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◆ getFlowDebug()

void NavEKF2_core::getFlowDebug	(	float &	varFlow,
		float &	gndOffset,
		float &	flowInnovX,
		float &	flowInnovY,
		float &	auxInnov,
		float &	HAGL,
		float &	rngInnov,
		float &	range,
		float &	gndOffsetErr
	)		const

Definition at line 60 of file AP_NavEKF2_Outputs.cpp.

Referenced by NavEKF2::getFlowDebug().

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◆ getFramesSincePredict()

uint8_t NavEKF2_core::getFramesSincePredict ( void ) const

Definition at line 607 of file AP_NavEKF2_Outputs.cpp.

◆ getGyroBias()

void NavEKF2_core::getGyroBias ( Vector3f & gyroBias ) const

Definition at line 127 of file AP_NavEKF2_Outputs.cpp.

Referenced by detectOptFlowTakeoff(), and NavEKF2::getGyroBias().

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◆ getGyroScaleErrorPercentage()

void NavEKF2_core::getGyroScaleErrorPercentage ( Vector3f & gyroScale ) const

Definition at line 137 of file AP_NavEKF2_Outputs.cpp.

Referenced by NavEKF2::getGyroScaleErrorPercentage().

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◆ getHAGL()

bool NavEKF2_core::getHAGL ( float & HAGL ) const

Definition at line 304 of file AP_NavEKF2_Outputs.cpp.

Referenced by NavEKF2::getHAGL().

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◆ getHeightControlLimit()

bool NavEKF2_core::getHeightControlLimit ( float & height ) const

Definition at line 102 of file AP_NavEKF2_Outputs.cpp.

Referenced by NavEKF2::getHeightControlLimit().

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◆ getIMUIndex()

uint8_t NavEKF2_core::getIMUIndex ( void ) const

inline

Definition at line 305 of file AP_NavEKF2_core.h.

Referenced by NavEKF2::getPrimaryCoreIMUIndex().

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◆ getInnovations()

void NavEKF2_core::getInnovations	(	Vector3f &	velInnov,
		Vector3f &	posInnov,
		Vector3f &	magInnov,
		float &	tasInnov,
		float &	yawInnov
	)		const

Definition at line 436 of file AP_NavEKF2_Outputs.cpp.

Referenced by NavEKF2::getInnovations().

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◆ getLastPosDownReset()

uint32_t NavEKF2_core::getLastPosDownReset ( float & posD ) const

Definition at line 185 of file AP_NavEKF2_Outputs.cpp.

Referenced by NavEKF2::getLastPosDownReset().

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◆ getLastPosNorthEastReset()

uint32_t NavEKF2_core::getLastPosNorthEastReset ( Vector2f & pos ) const

Definition at line 177 of file AP_NavEKF2_Outputs.cpp.

Referenced by NavEKF2::getLastPosNorthEastReset().

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◆ getLastVelNorthEastReset()

uint32_t NavEKF2_core::getLastVelNorthEastReset ( Vector2f & vel ) const

Definition at line 193 of file AP_NavEKF2_Outputs.cpp.

Referenced by NavEKF2::getLastVelNorthEastReset().

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◆ getLastYawResetAngle()

uint32_t NavEKF2_core::getLastYawResetAngle ( float & yawAng ) const

Definition at line 169 of file AP_NavEKF2_Outputs.cpp.

Referenced by NavEKF2::getLastYawResetAngle().

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◆ getLLH()

bool NavEKF2_core::getLLH ( struct Location & loc ) const

Definition at line 316 of file AP_NavEKF2_Outputs.cpp.

Referenced by NavEKF2::getLLH().

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◆ getMagNED()

void NavEKF2_core::getMagNED ( Vector3f & magNED ) const

Definition at line 393 of file AP_NavEKF2_Outputs.cpp.

Referenced by NavEKF2::getMagNED().

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◆ getMagOffsets()

bool NavEKF2_core::getMagOffsets	(	uint8_t	mag_idx,
		Vector3f &	magOffsets
	)		const

Definition at line 406 of file AP_NavEKF2_Outputs.cpp.

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◆ getMagXYZ()

void NavEKF2_core::getMagXYZ ( Vector3f & magXYZ ) const

Definition at line 399 of file AP_NavEKF2_Outputs.cpp.

Referenced by NavEKF2::getMagXYZ().

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◆ getOriginLLH()

bool NavEKF2_core::getOriginLLH ( struct Location & loc ) const

Definition at line 380 of file AP_NavEKF2_Outputs.cpp.

Referenced by NavEKF2::getOriginLLH().

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◆ getOutputTrackingError()

void NavEKF2_core::getOutputTrackingError ( Vector3f & error ) const

Definition at line 613 of file AP_NavEKF2_Outputs.cpp.

Referenced by NavEKF2::getOutputTrackingError().

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◆ getPosD()

bool NavEKF2_core::getPosD ( float & posD ) const

Definition at line 284 of file AP_NavEKF2_Outputs.cpp.

Referenced by NavEKF2::getPosD(), and NavEKF2::updateLaneSwitchPosDownResetData().

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◆ getPosDownDerivative()

float NavEKF2_core::getPosDownDerivative ( void ) const

Definition at line 217 of file AP_NavEKF2_Outputs.cpp.

Referenced by NavEKF2::getPosDownDerivative().

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◆ getPosNE()

bool NavEKF2_core::getPosNE ( Vector2f & posNE ) const

Definition at line 241 of file AP_NavEKF2_Outputs.cpp.

Referenced by NavEKF2::getPosNE(), and NavEKF2::updateLaneSwitchPosResetData().

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◆ getQuaternion()

void NavEKF2_core::getQuaternion ( Quaternion & quat ) const

Definition at line 162 of file AP_NavEKF2_Outputs.cpp.

Referenced by NavEKF2::getQuaternion().

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◆ getRangeBeaconDebug()

bool NavEKF2_core::getRangeBeaconDebug	(	uint8_t &	ID,
		float &	rng,
		float &	innov,
		float &	innovVar,
		float &	testRatio,
		Vector3f &	beaconPosNED,
		float &	offsetHigh,
		float &	offsetLow
	)

Definition at line 74 of file AP_NavEKF2_Outputs.cpp.

Referenced by NavEKF2::getRangeBeaconDebug().

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◆ getRotationBodyToNED()

void NavEKF2_core::getRotationBodyToNED ( Matrix3f & mat ) const

Definition at line 155 of file AP_NavEKF2_Outputs.cpp.

Referenced by NavEKF2::getRotationBodyToNED().

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◆ getTakeoffExpected()

bool NavEKF2_core::getTakeoffExpected ( )

private

Definition at line 405 of file AP_NavEKF2_VehicleStatus.cpp.

Referenced by readBaroData(), and selectHeightForFusion().

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◆ getTiltError()

void NavEKF2_core::getTiltError ( float & ang ) const

Definition at line 149 of file AP_NavEKF2_Outputs.cpp.

Referenced by NavEKF2::getTiltError().

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◆ getTimingStatistics()

void NavEKF2_core::getTimingStatistics ( struct ekf_timing & timing )

Definition at line 800 of file AP_NavEKF2_Measurements.cpp.

Referenced by getIMUIndex(), and NavEKF2::getTimingStatistics().

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◆ getTouchdownExpected()

bool NavEKF2_core::getTouchdownExpected ( )

private

Definition at line 424 of file AP_NavEKF2_VehicleStatus.cpp.

Referenced by FuseVelPosNED(), and selectHeightForFusion().

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◆ getVariances()

void NavEKF2_core::getVariances	(	float &	velVar,
		float &	posVar,
		float &	hgtVar,
		Vector3f &	magVar,
		float &	tasVar,
		Vector2f &	offset
	)		const

Definition at line 454 of file AP_NavEKF2_Outputs.cpp.

Referenced by NavEKF2::getVariances(), and send_status_report().

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◆ getVelNED()

void NavEKF2_core::getVelNED ( Vector3f & vel ) const

Definition at line 210 of file AP_NavEKF2_Outputs.cpp.

Referenced by NavEKF2::getVelNED().

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◆ getWind()

void NavEKF2_core::getWind ( Vector3f & wind ) const

Definition at line 200 of file AP_NavEKF2_Outputs.cpp.

Referenced by NavEKF2::getWind().

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◆ healthy()

bool NavEKF2_core::healthy ( void ) const

Definition at line 16 of file AP_NavEKF2_Outputs.cpp.

Referenced by getHAGL(), NavEKF2::healthy(), NavEKF2::UpdateFilter(), and updateFilterStatus().

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◆ InitialGyroBiasUncertainty()

float NavEKF2_core::InitialGyroBiasUncertainty ( void ) const

private

Definition at line 31 of file AP_NavEKF_GyroBias.cpp.

Referenced by CovarianceInit().

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◆ InitialiseFilterBootstrap()

bool NavEKF2_core::InitialiseFilterBootstrap ( void )

Definition at line 348 of file AP_NavEKF2_core.cpp.

Referenced by NavEKF2::InitialiseFilter().

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◆ InitialiseVariables()

void NavEKF2_core::InitialiseVariables ( )

private

Definition at line 113 of file AP_NavEKF2_core.cpp.

Referenced by InitialiseFilterBootstrap().

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◆ optFlowDataPresent()

bool NavEKF2_core::optFlowDataPresent ( void ) const

private

Definition at line 385 of file AP_NavEKF2_Control.cpp.

Referenced by setAidingMode().

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◆ prearm_failure_reason()

const char * NavEKF2_core::prearm_failure_reason ( void ) const

Definition at line 595 of file AP_NavEKF2_Outputs.cpp.

Referenced by NavEKF2::prearm_failure_reason().

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◆ quat2Tbn()

void NavEKF2_core::quat2Tbn	(	Matrix3f &	Tbn,
		const Quaternion &	quat
	)		const

private

Definition at line 1359 of file AP_NavEKF2_core.cpp.

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◆ readAirSpdData()

void NavEKF2_core::readAirSpdData ( )

private

Definition at line 643 of file AP_NavEKF2_Measurements.cpp.

Referenced by SelectTasFusion().

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◆ readBaroData()

void NavEKF2_core::readBaroData ( )

private

Definition at line 555 of file AP_NavEKF2_Measurements.cpp.

Referenced by InitialiseFilterBootstrap(), and selectHeightForFusion().

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◆ readDeltaAngle()

bool NavEKF2_core::readDeltaAngle	(	uint8_t	ins_index,
		Vector3f &	dAng,
		float &	dAng_dt
	)

private

Definition at line 536 of file AP_NavEKF2_Measurements.cpp.

Referenced by readIMUData().

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◆ readDeltaVelocity()

bool NavEKF2_core::readDeltaVelocity	(	uint8_t	ins_index,
		Vector3f &	dVel,
		float &	dVel_dt
	)

private

Definition at line 393 of file AP_NavEKF2_Measurements.cpp.

Referenced by readIMUData().

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◆ readGpsData()

void NavEKF2_core::readGpsData ( )

private

Definition at line 410 of file AP_NavEKF2_Measurements.cpp.

Referenced by InitialiseFilterBootstrap(), and SelectVelPosFusion().

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◆ readIMUData()

void NavEKF2_core::readIMUData ( )

private

Definition at line 284 of file AP_NavEKF2_Measurements.cpp.

Referenced by InitialiseFilterBootstrap(), and UpdateFilter().

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◆ readMagData()

void NavEKF2_core::readMagData ( )

private

Definition at line 189 of file AP_NavEKF2_Measurements.cpp.

Referenced by calcQuatAndFieldStates(), InitialiseFilterBootstrap(), and SelectMagFusion().

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◆ readRangeFinder()

void NavEKF2_core::readRangeFinder ( void )

private

Definition at line 22 of file AP_NavEKF2_Measurements.cpp.

Referenced by selectHeightForFusion().

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◆ readRngBcnData()

void NavEKF2_core::readRngBcnData ( )

private

Definition at line 671 of file AP_NavEKF2_Measurements.cpp.

Referenced by SelectRngBcnFusion().

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◆ readyToUseExtNav()

bool NavEKF2_core::readyToUseExtNav ( void ) const

private

Definition at line 403 of file AP_NavEKF2_Control.cpp.

Referenced by setAidingMode().

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◆ readyToUseGPS()

bool NavEKF2_core::readyToUseGPS ( void ) const

private

Definition at line 391 of file AP_NavEKF2_Control.cpp.

Referenced by setAidingMode().

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◆ readyToUseRangeBeacon()

bool NavEKF2_core::readyToUseRangeBeacon ( void ) const

private

Definition at line 397 of file AP_NavEKF2_Control.cpp.

Referenced by setAidingMode().

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◆ realignYawGPS()

void NavEKF2_core::realignYawGPS ( )

private

Definition at line 176 of file AP_NavEKF2_MagFusion.cpp.

Referenced by SelectVelPosFusion().

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◆ RecallBaro()

bool NavEKF2_core::RecallBaro ( )

private

◆ RecallMag()

bool NavEKF2_core::RecallMag ( )

private

◆ RecallOF()

bool NavEKF2_core::RecallOF ( )

private

◆ RecallRange()

bool NavEKF2_core::RecallRange ( )

private

◆ RecallTAS()

bool NavEKF2_core::RecallTAS ( )

private

◆ recordMagReset()

void NavEKF2_core::recordMagReset ( )

private

Definition at line 1157 of file AP_NavEKF2_MagFusion.cpp.

Referenced by calcQuatAndFieldStates().

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◆ recordYawReset()

void NavEKF2_core::recordYawReset ( )

private

Definition at line 456 of file AP_NavEKF2_Control.cpp.

Referenced by controlMagYawReset(), and realignYawGPS().

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◆ resetGyroBias()

void NavEKF2_core::resetGyroBias ( void )

Definition at line 17 of file AP_NavEKF_GyroBias.cpp.

Referenced by NavEKF2::resetGyroBias().

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◆ ResetHeight()

void NavEKF2_core::ResetHeight ( void )

private

Definition at line 141 of file AP_NavEKF2_PosVelFusion.cpp.

Referenced by FuseVelPosNED(), InitialiseFilterBootstrap(), and setAidingMode().

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◆ resetHeightDatum()

bool NavEKF2_core::resetHeightDatum ( void )

Definition at line 204 of file AP_NavEKF2_PosVelFusion.cpp.

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◆ ResetPosition()

void NavEKF2_core::ResetPosition ( void )

private

Definition at line 75 of file AP_NavEKF2_PosVelFusion.cpp.

Referenced by FuseVelPosNED(), InitialiseFilterBootstrap(), realignYawGPS(), and setAidingMode().

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◆ ResetVelocity()

void NavEKF2_core::ResetVelocity ( void )

private

Definition at line 21 of file AP_NavEKF2_PosVelFusion.cpp.

Referenced by FuseVelPosNED(), InitialiseFilterBootstrap(), realignYawGPS(), and setAidingMode().

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◆ SelectBetaFusion()

void NavEKF2_core::SelectBetaFusion ( )

private

Definition at line 223 of file AP_NavEKF2_AirDataFusion.cpp.

Referenced by UpdateFilter().

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◆ SelectFlowFusion()

void NavEKF2_core::SelectFlowFusion ( )

private

Definition at line 23 of file AP_NavEKF2_OptFlowFusion.cpp.

Referenced by UpdateFilter().

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◆ selectHeightForFusion()

void NavEKF2_core::selectHeightForFusion ( )

private

Definition at line 777 of file AP_NavEKF2_PosVelFusion.cpp.

Referenced by SelectVelPosFusion().

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◆ SelectMagFusion()

void NavEKF2_core::SelectMagFusion ( )

private

Definition at line 232 of file AP_NavEKF2_MagFusion.cpp.

Referenced by UpdateFilter().

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◆ SelectRngBcnFusion()

void NavEKF2_core::SelectRngBcnFusion ( )

private

Definition at line 20 of file AP_NavEKF2_RngBcnFusion.cpp.

Referenced by UpdateFilter().

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◆ SelectTasFusion()

void NavEKF2_core::SelectTasFusion ( )

private

Definition at line 192 of file AP_NavEKF2_AirDataFusion.cpp.

Referenced by UpdateFilter().

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◆ SelectVelPosFusion()

void NavEKF2_core::SelectVelPosFusion ( )

private

Definition at line 229 of file AP_NavEKF2_PosVelFusion.cpp.

Referenced by UpdateFilter().

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◆ send_status_report()

void NavEKF2_core::send_status_report ( mavlink_channel_t chan )

Definition at line 539 of file AP_NavEKF2_Outputs.cpp.

Referenced by NavEKF2::send_status_report().

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◆ setAidingMode()

void NavEKF2_core::setAidingMode ( )

private

Definition at line 157 of file AP_NavEKF2_Control.cpp.

Referenced by controlFilterModes().

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◆ setInhibitGPS()

uint8_t NavEKF2_core::setInhibitGPS ( void )

Definition at line 481 of file AP_NavEKF2_Control.cpp.

Referenced by NavEKF2::setInhibitGPS().

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◆ setOrigin()

void NavEKF2_core::setOrigin ( )

private

Definition at line 440 of file AP_NavEKF2_Control.cpp.

Referenced by readGpsData().

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◆ setOriginLLH()

bool NavEKF2_core::setOriginLLH ( const Location & loc )

Definition at line 426 of file AP_NavEKF2_Control.cpp.

Referenced by readRngBcnData(), and NavEKF2::setOriginLLH().

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◆ setTakeoffExpected()

void NavEKF2_core::setTakeoffExpected ( bool val )

Definition at line 416 of file AP_NavEKF2_VehicleStatus.cpp.

Referenced by NavEKF2::setTakeoffExpected().

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◆ setTerrainHgtStable()

void NavEKF2_core::setTerrainHgtStable ( bool val )

Definition at line 444 of file AP_NavEKF2_VehicleStatus.cpp.

Referenced by NavEKF2::setTerrainHgtStable().

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◆ setTouchdownExpected()

void NavEKF2_core::setTouchdownExpected ( bool val )

Definition at line 435 of file AP_NavEKF2_VehicleStatus.cpp.

Referenced by NavEKF2::setTouchdownExpected().

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◆ setup_core()

bool NavEKF2_core::setup_core	(	NavEKF2 *	_frontend,
		uint8_t	_imu_index,
		uint8_t	_core_index
	)

Definition at line 52 of file AP_NavEKF2_core.cpp.

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◆ setWindMagStateLearningMode()

void NavEKF2_core::setWindMagStateLearningMode ( )

private

Definition at line 58 of file AP_NavEKF2_Control.cpp.

Referenced by controlFilterModes().

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◆ StoreBaro()

void NavEKF2_core::StoreBaro ( )

private

◆ StoreMag()

void NavEKF2_core::StoreMag ( )

private

◆ StoreOF()

void NavEKF2_core::StoreOF ( )

private

◆ StoreOutputReset()

void NavEKF2_core::StoreOutputReset ( void )

private

Definition at line 1321 of file AP_NavEKF2_core.cpp.

Referenced by InitialiseFilterBootstrap().

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◆ StoreQuatReset()

void NavEKF2_core::StoreQuatReset ( void )

private

Definition at line 1337 of file AP_NavEKF2_core.cpp.

◆ StoreQuatRotate()

void NavEKF2_core::StoreQuatRotate ( Quaternion deltaQuat )

private

Definition at line 1348 of file AP_NavEKF2_core.cpp.

Referenced by controlMagYawReset().

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◆ StoreRange()

void NavEKF2_core::StoreRange ( )

private

◆ StoreTAS()

void NavEKF2_core::StoreTAS ( )

private

◆ UpdateFilter()

void NavEKF2_core::UpdateFilter ( bool predict )

Definition at line 493 of file AP_NavEKF2_core.cpp.

Referenced by NavEKF2::UpdateFilter().

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◆ updateFilterStatus()

void NavEKF2_core::updateFilterStatus ( void )

private

Definition at line 493 of file AP_NavEKF2_Control.cpp.

Referenced by UpdateFilter().

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◆ UpdateStrapdownEquationsNED()

void NavEKF2_core::UpdateStrapdownEquationsNED ( )

private

Definition at line 580 of file AP_NavEKF2_core.cpp.

Referenced by UpdateFilter().

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◆ updateTimingStatistics()

void NavEKF2_core::updateTimingStatistics ( void )

private

Definition at line 775 of file AP_NavEKF2_Measurements.cpp.

Referenced by readIMUData().

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◆ use_compass()

bool NavEKF2_core::use_compass ( void ) const

Definition at line 409 of file AP_NavEKF2_Control.cpp.

Referenced by alignMagStateDeclination(), calcGpsGoodToAlign(), calcQuatAndFieldStates(), checkAttitudeAlignmentStatus(), FuseDeclination(), fuseEulerYaw(), readMagData(), realignYawGPS(), SelectBetaFusion(), SelectMagFusion(), SelectVelPosFusion(), setWindMagStateLearningMode(), updateFilterStatus(), and NavEKF2::use_compass().

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◆ useAirspeed()

bool NavEKF2_core::useAirspeed ( void ) const

private

Definition at line 372 of file AP_NavEKF2_Control.cpp.

Referenced by SelectBetaFusion(), and setWindMagStateLearningMode().

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◆ useRngFinder()

bool NavEKF2_core::useRngFinder ( void ) const

private

Definition at line 378 of file AP_NavEKF2_Control.cpp.

◆ writeExtNavData()

void NavEKF2_core::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 806 of file AP_NavEKF2_Measurements.cpp.

Referenced by getIMUIndex(), and NavEKF2::writeExtNavData().

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◆ writeOptFlowMeas()

void NavEKF2_core::writeOptFlowMeas	(	uint8_t &	rawFlowQuality,
		Vector2f &	rawFlowRates,
		Vector2f &	rawGyroRates,
		uint32_t &	msecFlowMeas,
		const Vector3f &	posOffset
	)

Definition at line 120 of file AP_NavEKF2_Measurements.cpp.

Referenced by NavEKF2::writeOptFlowMeas().

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◆ zeroAttCovOnly()

void NavEKF2_core::zeroAttCovOnly ( )

private

Definition at line 1533 of file AP_NavEKF2_core.cpp.

Referenced by calcQuatAndFieldStates(), and realignYawGPS().

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◆ zeroCols()

void NavEKF2_core::zeroCols	(	Matrix24 &	covMat,
		uint8_t	first,
		uint8_t	last
	)

private

Definition at line 1311 of file AP_NavEKF2_core.cpp.

Referenced by alignMagStateDeclination(), calcQuatAndFieldStates(), ConstrainVariances(), CovariancePrediction(), FuseVelPosNED(), resetGyroBias(), ResetHeight(), ResetPosition(), ResetVelocity(), and zeroAttCovOnly().

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◆ zeroRows()

void NavEKF2_core::zeroRows	(	Matrix24 &	covMat,
		uint8_t	first,
		uint8_t	last
	)

private

Definition at line 1301 of file AP_NavEKF2_core.cpp.

Referenced by alignMagStateDeclination(), calcQuatAndFieldStates(), ConstrainVariances(), CovariancePrediction(), FuseVelPosNED(), resetGyroBias(), ResetHeight(), ResetPosition(), ResetVelocity(), and zeroAttCovOnly().

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Member Data Documentation

◆ _ahrs

const AP_AHRS* NavEKF2_core::_ahrs

private

◆ _perf_CovariancePrediction

AP_HAL::Util::perf_counter_t NavEKF2_core::_perf_CovariancePrediction

private

Definition at line 1158 of file AP_NavEKF2_core.h.

Referenced by CovariancePrediction().

◆ _perf_FuseAirspeed

AP_HAL::Util::perf_counter_t NavEKF2_core::_perf_FuseAirspeed

private

Definition at line 1161 of file AP_NavEKF2_core.h.

Referenced by FuseAirspeed().

◆ _perf_FuseMagnetometer

AP_HAL::Util::perf_counter_t NavEKF2_core::_perf_FuseMagnetometer

private

Definition at line 1160 of file AP_NavEKF2_core.h.

Referenced by SelectMagFusion().

◆ _perf_FuseOptFlow

AP_HAL::Util::perf_counter_t NavEKF2_core::_perf_FuseOptFlow

private

Definition at line 1164 of file AP_NavEKF2_core.h.

Referenced by SelectFlowFusion().

◆ _perf_FuseSideslip

AP_HAL::Util::perf_counter_t NavEKF2_core::_perf_FuseSideslip

private

Definition at line 1162 of file AP_NavEKF2_core.h.

Referenced by FuseSideslip().

◆ _perf_FuseVelPosNED

AP_HAL::Util::perf_counter_t NavEKF2_core::_perf_FuseVelPosNED

private

Definition at line 1159 of file AP_NavEKF2_core.h.

Referenced by FuseVelPosNED().

◆ _perf_TerrainOffset

AP_HAL::Util::perf_counter_t NavEKF2_core::_perf_TerrainOffset

private

Definition at line 1163 of file AP_NavEKF2_core.h.

Referenced by EstimateTerrainOffset().

◆ _perf_test

AP_HAL::Util::perf_counter_t NavEKF2_core::_perf_test[10]

private

Definition at line 1165 of file AP_NavEKF2_core.h.

Referenced by FuseMagnetometer(), NavEKF2_core(), and SelectMagFusion().

◆ _perf_UpdateFilter

AP_HAL::Util::perf_counter_t NavEKF2_core::_perf_UpdateFilter

private

Definition at line 1157 of file AP_NavEKF2_core.h.

Referenced by UpdateFilter().

◆ accelPosOffset

Vector3f NavEKF2_core::accelPosOffset

private

Definition at line 999 of file AP_NavEKF2_core.h.

Referenced by calcOutputStates(), FuseOptFlow(), readIMUData(), selectHeightForFusion(), and SelectVelPosFusion().

◆ accNavMag

ftype NavEKF2_core::accNavMag

private

Definition at line 780 of file AP_NavEKF2_core.h.

Referenced by FuseVelPosNED(), and UpdateStrapdownEquationsNED().

◆ accNavMagHoriz

ftype NavEKF2_core::accNavMagHoriz

private

Definition at line 781 of file AP_NavEKF2_core.h.

Referenced by setWindMagStateLearningMode(), and UpdateStrapdownEquationsNED().

◆ activeHgtSource

uint8_t NavEKF2_core::activeHgtSource

private

Definition at line 1062 of file AP_NavEKF2_core.h.

Referenced by correctEkfOriginHeight(), EstimateTerrainOffset(), FuseRngBcn(), FuseRngBcnStatic(), FuseVelPosNED(), InitialiseVariables(), resetHeightDatum(), SelectFlowFusion(), selectHeightForFusion(), SelectVelPosFusion(), and send_status_report().

◆ airborneDetectTime_ms

uint32_t NavEKF2_core::airborneDetectTime_ms

private

Definition at line 792 of file AP_NavEKF2_core.h.

Referenced by detectFlight().

◆ airSpdFusionDelayed

bool NavEKF2_core::airSpdFusionDelayed

private

Definition at line 894 of file AP_NavEKF2_core.h.

Referenced by InitialiseVariables(), and SelectTasFusion().

◆ allMagSensorsFailed

bool NavEKF2_core::allMagSensorsFailed

private

Definition at line 822 of file AP_NavEKF2_core.h.

Referenced by InitialiseVariables(), readMagData(), realignYawGPS(), and use_compass().

◆ auxFlowObsInnov

float NavEKF2_core::auxFlowObsInnov

private

Definition at line 961 of file AP_NavEKF2_core.h.

Referenced by EstimateTerrainOffset(), and getFlowDebug().

◆ auxFlowObsInnovVar

float NavEKF2_core::auxFlowObsInnovVar

private

Definition at line 962 of file AP_NavEKF2_core.h.

Referenced by EstimateTerrainOffset().

◆ auxFlowTestRatio

float NavEKF2_core::auxFlowTestRatio

private

Definition at line 980 of file AP_NavEKF2_core.h.

Referenced by EstimateTerrainOffset().

◆ auxRngTestRatio

float NavEKF2_core::auxRngTestRatio

private

Definition at line 982 of file AP_NavEKF2_core.h.

Referenced by EstimateTerrainOffset(), and send_status_report().

◆ bad_airspeed

bool NavEKF2_core::bad_airspeed

Definition at line 1102 of file AP_NavEKF2_core.h.

◆ bad_decl

bool NavEKF2_core::bad_decl

Definition at line 1111 of file AP_NavEKF2_core.h.

◆ bad_dpos

bool NavEKF2_core::bad_dpos

Definition at line 1109 of file AP_NavEKF2_core.h.

◆ bad_dvel

bool NavEKF2_core::bad_dvel

Definition at line 1106 of file AP_NavEKF2_core.h.

◆ bad_epos

bool NavEKF2_core::bad_epos

Definition at line 1108 of file AP_NavEKF2_core.h.

◆ bad_evel

bool NavEKF2_core::bad_evel

Definition at line 1105 of file AP_NavEKF2_core.h.

◆ bad_fix

bool NavEKF2_core::bad_fix

Definition at line 1128 of file AP_NavEKF2_core.h.

◆ bad_hAcc

bool NavEKF2_core::bad_hAcc

Definition at line 1120 of file AP_NavEKF2_core.h.

◆ bad_hdop

bool NavEKF2_core::bad_hdop

Definition at line 1126 of file AP_NavEKF2_core.h.

◆ bad_horiz_drift

bool NavEKF2_core::bad_horiz_drift

Definition at line 1125 of file AP_NavEKF2_core.h.

◆ bad_horiz_vel

bool NavEKF2_core::bad_horiz_vel

Definition at line 1129 of file AP_NavEKF2_core.h.

◆ bad_npos

bool NavEKF2_core::bad_npos

Definition at line 1107 of file AP_NavEKF2_core.h.

◆ bad_nvel

bool NavEKF2_core::bad_nvel

Definition at line 1104 of file AP_NavEKF2_core.h.

◆ bad_rngbcn

bool NavEKF2_core::bad_rngbcn

Definition at line 1114 of file AP_NavEKF2_core.h.

◆ bad_sAcc

bool NavEKF2_core::bad_sAcc

Definition at line 1119 of file AP_NavEKF2_core.h.

◆ bad_sats

bool NavEKF2_core::bad_sats

Definition at line 1123 of file AP_NavEKF2_core.h.

◆ bad_sideslip

bool NavEKF2_core::bad_sideslip

Definition at line 1103 of file AP_NavEKF2_core.h.

◆ bad_vAcc

bool NavEKF2_core::bad_vAcc

Definition at line 1121 of file AP_NavEKF2_core.h.

◆ bad_vert_vel

bool NavEKF2_core::bad_vert_vel

Definition at line 1127 of file AP_NavEKF2_core.h.

◆ bad_VZ

bool NavEKF2_core::bad_VZ

Definition at line 1124 of file AP_NavEKF2_core.h.

◆ bad_xflow

bool NavEKF2_core::bad_xflow

Definition at line 1112 of file AP_NavEKF2_core.h.

◆ bad_xmag

bool NavEKF2_core::bad_xmag

Definition at line 1099 of file AP_NavEKF2_core.h.

◆ bad_yaw

bool NavEKF2_core::bad_yaw

Definition at line 1110 of file AP_NavEKF2_core.h.

◆ bad_yflow

bool NavEKF2_core::bad_yflow

Definition at line 1113 of file AP_NavEKF2_core.h.

◆ bad_ymag

bool NavEKF2_core::bad_ymag

Definition at line 1100 of file AP_NavEKF2_core.h.

◆ bad_zmag

bool NavEKF2_core::bad_zmag

Definition at line 1101 of file AP_NavEKF2_core.h.

◆ badIMUdata

bool NavEKF2_core::badIMUdata

private

Definition at line 765 of file AP_NavEKF2_core.h.

Referenced by FuseAirspeed(), FuseRngBcn(), FuseVelPosNED(), and InitialiseVariables().

◆ badMagYaw

bool NavEKF2_core::badMagYaw

private

Definition at line 764 of file AP_NavEKF2_core.h.

Referenced by InitialiseVariables(), and realignYawGPS().

◆ baroDataDelayed

baro_elements NavEKF2_core::baroDataDelayed

private

Definition at line 866 of file AP_NavEKF2_core.h.

Referenced by calcFiltBaroOffset(), selectHeightForFusion(), and setAidingMode().

◆ baroDataNew

baro_elements NavEKF2_core::baroDataNew

private

Definition at line 865 of file AP_NavEKF2_core.h.

Referenced by readBaroData().

◆ baroDataToFuse

bool NavEKF2_core::baroDataToFuse

private

Definition at line 985 of file AP_NavEKF2_core.h.

Referenced by selectHeightForFusion().

◆ baroHgtOffset

float NavEKF2_core::baroHgtOffset

private

Definition at line 1003 of file AP_NavEKF2_core.h.

Referenced by calcFiltBaroOffset(), InitialiseVariables(), and selectHeightForFusion().

◆ baroStoreIndex

uint8_t NavEKF2_core::baroStoreIndex

private

Definition at line 867 of file AP_NavEKF2_core.h.

Referenced by InitialiseVariables().

◆ bcnPosOffset

float NavEKF2_core::bcnPosOffset

private

Definition at line 1041 of file AP_NavEKF2_core.h.

Referenced by CalcRangeBeaconPosDownOffset(), FuseRngBcn(), FuseRngBcnStatic(), InitialiseVariables(), and setAidingMode().

◆ bcnPosOffsetMax

float NavEKF2_core::bcnPosOffsetMax

private

Definition at line 1043 of file AP_NavEKF2_core.h.

Referenced by CalcRangeBeaconPosDownOffset(), FuseRngBcnStatic(), getRangeBeaconDebug(), and InitialiseVariables().

◆ bcnPosOffsetMaxVar

float NavEKF2_core::bcnPosOffsetMaxVar

private

Definition at line 1044 of file AP_NavEKF2_core.h.

Referenced by CalcRangeBeaconPosDownOffset(), and InitialiseVariables().

◆ bcnPosOffsetMin

float NavEKF2_core::bcnPosOffsetMin

private

Definition at line 1047 of file AP_NavEKF2_core.h.

Referenced by CalcRangeBeaconPosDownOffset(), FuseRngBcnStatic(), getRangeBeaconDebug(), and InitialiseVariables().

◆ bcnPosOffsetMinVar

float NavEKF2_core::bcnPosOffsetMinVar

private

Definition at line 1048 of file AP_NavEKF2_core.h.

Referenced by CalcRangeBeaconPosDownOffset(), and InitialiseVariables().

◆ beaconPosNED

Vector3f NavEKF2_core::beaconPosNED

Definition at line 1058 of file AP_NavEKF2_core.h.

◆ beaconVehiclePosErr

float NavEKF2_core::beaconVehiclePosErr

private

Definition at line 1026 of file AP_NavEKF2_core.h.

Referenced by InitialiseVariables(), and readRngBcnData().

◆ beaconVehiclePosNED

Vector3f NavEKF2_core::beaconVehiclePosNED

private

Definition at line 1025 of file AP_NavEKF2_core.h.

Referenced by InitialiseVariables(), and readRngBcnData().

◆ bodyMagFieldVar

Vector3f NavEKF2_core::bodyMagFieldVar

private

Definition at line 918 of file AP_NavEKF2_core.h.

Referenced by SelectMagFusion(), and setWindMagStateLearningMode().

◆ consistentMagData

bool NavEKF2_core::consistentMagData

private

Definition at line 889 of file AP_NavEKF2_core.h.

Referenced by calcGpsGoodToAlign(), and readMagData().

◆ core_index

uint8_t NavEKF2_core::core_index

private

Definition at line 328 of file AP_NavEKF2_core.h.

Referenced by effective_magCal(), and setup_core().

◆ DCM

Matrix3f NavEKF2_core::DCM

Definition at line 1147 of file AP_NavEKF2_core.h.

Referenced by FuseMagnetometer().

◆ delAngBiasLearned

bool NavEKF2_core::delAngBiasLearned

private

Definition at line 919 of file AP_NavEKF2_core.h.

Referenced by checkGyroCalStatus(), InitialiseVariables(), and updateFilterStatus().

◆ delAngBodyOF

Vector3f NavEKF2_core::delAngBodyOF

private

Definition at line 997 of file AP_NavEKF2_core.h.

Referenced by UpdateStrapdownEquationsNED(), and writeOptFlowMeas().

◆ delAngCorrected

Vector3f NavEKF2_core::delAngCorrected

private

Definition at line 914 of file AP_NavEKF2_core.h.

Referenced by FuseMagnetometer(), readIMUData(), and UpdateStrapdownEquationsNED().

◆ delAngCorrection

Vector3f NavEKF2_core::delAngCorrection

private

Definition at line 882 of file AP_NavEKF2_core.h.

Referenced by calcOutputStates(), and InitialiseVariables().

◆ delTimeOF

float NavEKF2_core::delTimeOF

private

Definition at line 998 of file AP_NavEKF2_core.h.

Referenced by UpdateStrapdownEquationsNED(), and writeOptFlowMeas().

◆ delVelCorrected

Vector3f NavEKF2_core::delVelCorrected

private

Definition at line 915 of file AP_NavEKF2_core.h.

Referenced by readIMUData(), and UpdateStrapdownEquationsNED().

◆ dt

ftype NavEKF2_core::dt

private

Definition at line 785 of file AP_NavEKF2_core.h.

Referenced by CovariancePrediction(), and InitialiseVariables().

◆ dtEkfAvg

ftype NavEKF2_core::dtEkfAvg

private

Definition at line 784 of file AP_NavEKF2_core.h.

Referenced by calcOutputStates(), checkGyroCalStatus(), ConstrainStates(), ConstrainVariances(), correctDeltaAngle(), correctDeltaVelocity(), CovarianceInit(), getAccelZBias(), getGyroBias(), InitialiseVariables(), readIMUData(), and updateTimingStatistics().

◆ dtIMUavg

ftype NavEKF2_core::dtIMUavg

private

Definition at line 783 of file AP_NavEKF2_core.h.

Referenced by calcOutputStates(), InitialiseFilterBootstrap(), InitialiseVariables(), readIMUData(), resetGyroBias(), SelectBetaFusion(), SelectFlowFusion(), SelectTasFusion(), SelectVelPosFusion(), and updateTimingStatistics().

◆ earthMagFieldVar

Vector3f NavEKF2_core::earthMagFieldVar

private

Definition at line 917 of file AP_NavEKF2_core.h.

Referenced by SelectMagFusion(), and setWindMagStateLearningMode().

◆ earthRateNED

Vector3f NavEKF2_core::earthRateNED

private

Definition at line 782 of file AP_NavEKF2_core.h.

Referenced by InitialiseFilterBootstrap(), setOrigin(), setOriginLLH(), and UpdateStrapdownEquationsNED().

◆ EKF_origin

struct Location NavEKF2_core::EKF_origin

private

Definition at line 842 of file AP_NavEKF2_core.h.

Referenced by getLLH(), getOriginLLH(), getPosD(), getPosNE(), readGpsData(), setOrigin(), and setOriginLLH().

◆ ekfGpsRefHgt

double NavEKF2_core::ekfGpsRefHgt

private

Definition at line 922 of file AP_NavEKF2_core.h.

Referenced by correctEkfOriginHeight(), getLLH(), getOriginLLH(), getPosD(), InitialiseVariables(), readGpsData(), resetHeightDatum(), setOrigin(), and setOriginLLH().

◆ ekfInnovationsPass

bool NavEKF2_core::ekfInnovationsPass

private

Definition at line 941 of file AP_NavEKF2_core.h.

Referenced by calcGpsGoodForFlight(), and InitialiseVariables().

◆ ekfOriginHgtVar

float NavEKF2_core::ekfOriginHgtVar

private

Definition at line 921 of file AP_NavEKF2_core.h.

Referenced by correctEkfOriginHeight(), InitialiseVariables(), readGpsData(), and readRngBcnData().

◆ ekfStartTime_ms

uint32_t NavEKF2_core::ekfStartTime_ms

private

Definition at line 824 of file AP_NavEKF2_core.h.

Referenced by healthy(), InitialiseVariables(), and readMagData().

◆ expectGndEffectTakeoff

bool NavEKF2_core::expectGndEffectTakeoff

private

Definition at line 1070 of file AP_NavEKF2_core.h.

Referenced by CovariancePrediction(), getTakeoffExpected(), InitialiseVariables(), setTakeoffExpected(), and updateFilterStatus().

◆ expectGndEffectTouchdown

bool NavEKF2_core::expectGndEffectTouchdown

private

Definition at line 1072 of file AP_NavEKF2_core.h.

Referenced by getTouchdownExpected(), InitialiseVariables(), setTouchdownExpected(), and updateFilterStatus().

◆ extNavDataDelayed

ext_nav_elements NavEKF2_core::extNavDataDelayed

private

Definition at line 1089 of file AP_NavEKF2_core.h.

Referenced by controlMagYawReset(), fuseEulerYaw(), InitialiseVariables(), ResetPosition(), selectHeightForFusion(), SelectVelPosFusion(), and setAidingMode().

◆ extNavDataNew

ext_nav_elements NavEKF2_core::extNavDataNew

private

Definition at line 1088 of file AP_NavEKF2_core.h.

Referenced by InitialiseVariables(), and writeExtNavData().

◆ extNavDataToFuse

bool NavEKF2_core::extNavDataToFuse

private

Definition at line 1092 of file AP_NavEKF2_core.h.

Referenced by InitialiseVariables(), readyToUseExtNav(), selectHeightForFusion(), and SelectVelPosFusion().

◆ extNavLastPosResetTime_ms

uint32_t NavEKF2_core::extNavLastPosResetTime_ms

private

Definition at line 1091 of file AP_NavEKF2_core.h.

Referenced by InitialiseVariables(), and writeExtNavData().

◆ extNavMeasTime_ms

uint32_t NavEKF2_core::extNavMeasTime_ms

private

Definition at line 1090 of file AP_NavEKF2_core.h.

Referenced by InitialiseVariables(), selectHeightForFusion(), and writeExtNavData().

◆ extNavUsedForPos

bool NavEKF2_core::extNavUsedForPos

private

Definition at line 1094 of file AP_NavEKF2_core.h.

Referenced by InitialiseVariables(), selectHeightForFusion(), SelectVelPosFusion(), setOriginLLH(), and updateFilterStatus().

◆ extNavUsedForYaw

bool NavEKF2_core::extNavUsedForYaw

private

Definition at line 1093 of file AP_NavEKF2_core.h.

Referenced by fuseEulerYaw(), InitialiseVariables(), and SelectVelPosFusion().

◆ extNavYawResetRequest

bool NavEKF2_core::extNavYawResetRequest

private

Definition at line 1095 of file AP_NavEKF2_core.h.

Referenced by controlMagYawReset(), InitialiseVariables(), SelectVelPosFusion(), and setAidingMode().

◆ faultStatus

struct { ... } NavEKF2_core::faultStatus

Referenced by FuseAirspeed(), FuseDeclination(), fuseEulerYaw(), FuseMagnetometer(), FuseOptFlow(), FuseRngBcn(), FuseSideslip(), FuseVelPosNED(), getFilterFaults(), and InitialiseVariables().

◆ fifoIndexDelayed

uint8_t NavEKF2_core::fifoIndexDelayed

private

Definition at line 864 of file AP_NavEKF2_core.h.

◆ fifoIndexNow

uint8_t NavEKF2_core::fifoIndexNow

private

Definition at line 863 of file AP_NavEKF2_core.h.

◆ filterStatus

nav_filter_status NavEKF2_core::filterStatus

private

Definition at line 920 of file AP_NavEKF2_core.h.

Referenced by getFilterStatus(), getLLH(), getPosD(), InitialiseVariables(), selectHeightForFusion(), send_status_report(), and updateFilterStatus().

◆ finalInflightMagInit

bool NavEKF2_core::finalInflightMagInit

private

Definition at line 1078 of file AP_NavEKF2_core.h.

Referenced by controlMagYawReset(), getMagOffsets(), InitialiseVariables(), recordMagReset(), SelectMagFusion(), and setWindMagStateLearningMode().

◆ finalInflightYawInit

bool NavEKF2_core::finalInflightYawInit

private

Definition at line 1077 of file AP_NavEKF2_core.h.

Referenced by controlMagYawReset(), InitialiseVariables(), recordYawReset(), SelectVelPosFusion(), and setWindMagStateLearningMode().

◆ flowDataToFuse

bool NavEKF2_core::flowDataToFuse

private

Definition at line 958 of file AP_NavEKF2_core.h.

Referenced by SelectFlowFusion(), and writeOptFlowMeas().

◆ flowDataValid

bool NavEKF2_core::flowDataValid

private

Definition at line 959 of file AP_NavEKF2_core.h.

Referenced by getHeightControlLimit(), InitialiseVariables(), SelectFlowFusion(), send_status_report(), and updateFilterStatus().

◆ flowGyroBias

Vector2f NavEKF2_core::flowGyroBias

private

Definition at line 983 of file AP_NavEKF2_core.h.

Referenced by InitialiseVariables(), and writeOptFlowMeas().

◆ flowMeaTime_ms

uint32_t NavEKF2_core::flowMeaTime_ms

private

Definition at line 965 of file AP_NavEKF2_core.h.

Referenced by InitialiseVariables(), optFlowDataPresent(), and writeOptFlowMeas().

◆ flowTestRatio

Vector2 NavEKF2_core::flowTestRatio

private

Definition at line 979 of file AP_NavEKF2_core.h.

Referenced by FuseOptFlow(), and getFlowDebug().

◆ flowValidMeaTime_ms

uint32_t NavEKF2_core::flowValidMeaTime_ms

private

Definition at line 963 of file AP_NavEKF2_core.h.

Referenced by InitialiseVariables(), SelectFlowFusion(), setAidingMode(), and writeOptFlowMeas().

◆ framesSincePredict

uint32_t NavEKF2_core::framesSincePredict

private

Definition at line 910 of file AP_NavEKF2_core.h.

Referenced by getFramesSincePredict(), InitialiseVariables(), and readIMUData().

◆ frontend

NavEKF2* NavEKF2_core::frontend

private

Definition at line 326 of file AP_NavEKF2_core.h.

Referenced by calcGpsGoodToAlign(), calcOutputStates(), calcQuatAndFieldStates(), CovarianceInit(), CovariancePrediction(), effective_magCal(), EstimateTerrainOffset(), FuseAirspeed(), fuseEulerYaw(), FuseMagnetometer(), FuseOptFlow(), FuseRngBcn(), FuseVelPosNED(), getEkfControlLimits(), getHeightControlLimit(), getOriginLLH(), getPosD(), getTakeoffExpected(), getTouchdownExpected(), InitialiseVariables(), readAirSpdData(), readBaroData(), readDeltaAngle(), readGpsData(), readMagData(), readRangeFinder(), readRngBcnData(), readyToUseGPS(), ResetHeight(), ResetPosition(), ResetVelocity(), SelectBetaFusion(), SelectFlowFusion(), selectHeightForFusion(), SelectMagFusion(), SelectTasFusion(), SelectVelPosFusion(), send_status_report(), setAidingMode(), setup_core(), setWindMagStateLearningMode(), UpdateFilter(), updateFilterStatus(), and writeOptFlowMeas().

◆ fuseHgtData

bool NavEKF2_core::fuseHgtData

private

Definition at line 798 of file AP_NavEKF2_core.h.

Referenced by FuseVelPosNED(), selectHeightForFusion(), and SelectVelPosFusion().

◆ fuseOptFlowData

bool NavEKF2_core::fuseOptFlowData

private

Definition at line 960 of file AP_NavEKF2_core.h.

Referenced by EstimateTerrainOffset(), InitialiseVariables(), and SelectFlowFusion().

◆ fusePosData

bool NavEKF2_core::fusePosData

private

Definition at line 797 of file AP_NavEKF2_core.h.

Referenced by FuseVelPosNED(), and SelectVelPosFusion().

◆ fuseVelData

bool NavEKF2_core::fuseVelData

private

Definition at line 796 of file AP_NavEKF2_core.h.

Referenced by FuseVelPosNED(), and SelectVelPosFusion().

◆ fusionHorizonOffset

uint8_t NavEKF2_core::fusionHorizonOffset

private

Definition at line 906 of file AP_NavEKF2_core.h.

◆ gndHgtValidTime_ms

uint32_t NavEKF2_core::gndHgtValidTime_ms

private

Definition at line 966 of file AP_NavEKF2_core.h.

Referenced by EstimateTerrainOffset(), InitialiseVariables(), and SelectFlowFusion().

◆ gndOffsetValid

bool NavEKF2_core::gndOffsetValid

private

Definition at line 996 of file AP_NavEKF2_core.h.

Referenced by getHAGL(), InitialiseVariables(), SelectFlowFusion(), and updateFilterStatus().

◆ gpsAccuracyGood

bool NavEKF2_core::gpsAccuracyGood

private

Definition at line 947 of file AP_NavEKF2_core.h.

Referenced by calcGpsGoodForFlight(), correctEkfOriginHeight(), InitialiseVariables(), selectHeightForFusion(), and updateFilterStatus().

◆ gpsCheckStatus

struct { ... } NavEKF2_core::gpsCheckStatus

Referenced by calcGpsGoodToAlign(), getFilterGpsStatus(), InitialiseVariables(), and readGpsData().

◆ gpsDataDelayed

gps_elements NavEKF2_core::gpsDataDelayed

private

Definition at line 878 of file AP_NavEKF2_core.h.

Referenced by calcGpsGoodToAlign(), correctEkfOriginHeight(), detectFlight(), realignYawGPS(), selectHeightForFusion(), and SelectVelPosFusion().

◆ gpsDataNew

gps_elements NavEKF2_core::gpsDataNew

private

Definition at line 877 of file AP_NavEKF2_core.h.

Referenced by calcGpsGoodToAlign(), readGpsData(), ResetHeight(), ResetPosition(), ResetVelocity(), and SelectVelPosFusion().

◆ gpsDataToFuse

bool NavEKF2_core::gpsDataToFuse

private

Definition at line 986 of file AP_NavEKF2_core.h.

Referenced by readyToUseGPS(), selectHeightForFusion(), and SelectVelPosFusion().

◆ gpsDriftNE

float NavEKF2_core::gpsDriftNE

private

Definition at line 935 of file AP_NavEKF2_core.h.

Referenced by calcGpsGoodToAlign(), and InitialiseVariables().

◆ gpsGoodToAlign

bool NavEKF2_core::gpsGoodToAlign

private

Definition at line 887 of file AP_NavEKF2_core.h.

Referenced by InitialiseVariables(), readGpsData(), readyToUseGPS(), and updateFilterStatus().

◆ gpsHgtAccuracy

float NavEKF2_core::gpsHgtAccuracy

private

Definition at line 846 of file AP_NavEKF2_core.h.

Referenced by correctEkfOriginHeight(), InitialiseVariables(), readGpsData(), and selectHeightForFusion().

◆ gpsHorizVelFilt

float NavEKF2_core::gpsHorizVelFilt

private

Definition at line 937 of file AP_NavEKF2_core.h.

Referenced by calcGpsGoodToAlign(), and InitialiseVariables().

◆ gpsInhibit

bool NavEKF2_core::gpsInhibit

private

Definition at line 995 of file AP_NavEKF2_core.h.

Referenced by InitialiseVariables(), setAidingMode(), and setInhibitGPS().

◆ gpsloc_prev

struct Location NavEKF2_core::gpsloc_prev

private

Definition at line 933 of file AP_NavEKF2_core.h.

Referenced by calcGpsGoodToAlign(), and InitialiseVariables().

◆ gpsNoiseScaler

float NavEKF2_core::gpsNoiseScaler

private

Definition at line 767 of file AP_NavEKF2_core.h.

Referenced by FuseVelPosNED(), InitialiseVariables(), and readGpsData().

◆ gpsNotAvailable

bool NavEKF2_core::gpsNotAvailable

private

Definition at line 840 of file AP_NavEKF2_core.h.

Referenced by EstimateTerrainOffset(), InitialiseVariables(), readGpsData(), ResetHeight(), setAidingMode(), and updateFilterStatus().

◆ gpsPosAccuracy

float NavEKF2_core::gpsPosAccuracy

private

Definition at line 845 of file AP_NavEKF2_core.h.

Referenced by FuseVelPosNED(), InitialiseVariables(), readGpsData(), and ResetPosition().

◆ gpsSpdAccPass

bool NavEKF2_core::gpsSpdAccPass

private

Definition at line 940 of file AP_NavEKF2_core.h.

Referenced by calcGpsGoodForFlight(), and InitialiseVariables().

◆ gpsSpdAccuracy

float NavEKF2_core::gpsSpdAccuracy

private

Definition at line 844 of file AP_NavEKF2_core.h.

Referenced by calcGpsGoodToAlign(), detectFlight(), FuseVelPosNED(), InitialiseVariables(), readGpsData(), and ResetVelocity().

◆ gpsStoreIndex

uint8_t NavEKF2_core::gpsStoreIndex

private

Definition at line 879 of file AP_NavEKF2_core.h.

Referenced by InitialiseVariables().

◆ gpsVertVelFilt

float NavEKF2_core::gpsVertVelFilt

private

Definition at line 936 of file AP_NavEKF2_core.h.

Referenced by calcGpsGoodToAlign(), and InitialiseVariables().

◆ gpsYawResetRequest

bool NavEKF2_core::gpsYawResetRequest

private

Definition at line 1081 of file AP_NavEKF2_core.h.

Referenced by checkAttitudeAlignmentStatus(), controlMagYawReset(), InitialiseVariables(), realignYawGPS(), and SelectVelPosFusion().

◆ heldVelNE

Vector2f NavEKF2_core::heldVelNE

private

Definition at line 988 of file AP_NavEKF2_core.h.

Referenced by InitialiseVariables().

◆ hgtHealth

bool NavEKF2_core::hgtHealth

private

Definition at line 756 of file AP_NavEKF2_core.h.

Referenced by FuseVelPosNED().

◆ hgtInnovFiltState

float NavEKF2_core::hgtInnovFiltState

private

Definition at line 907 of file AP_NavEKF2_core.h.

Referenced by FuseVelPosNED(), healthy(), and InitialiseVariables().

◆ hgtMea

float NavEKF2_core::hgtMea

private

Definition at line 976 of file AP_NavEKF2_core.h.

Referenced by detectFlight(), ResetHeight(), selectHeightForFusion(), SelectVelPosFusion(), and setAidingMode().

◆ hgtRate

ftype NavEKF2_core::hgtRate

private

Definition at line 786 of file AP_NavEKF2_core.h.

Referenced by CovariancePrediction(), and InitialiseVariables().

◆ hgtRetryTime_ms

uint16_t NavEKF2_core::hgtRetryTime_ms

private

Definition at line 813 of file AP_NavEKF2_core.h.

Referenced by selectHeightForFusion().

◆ hgtTestRatio

float NavEKF2_core::hgtTestRatio

private

Definition at line 835 of file AP_NavEKF2_core.h.

Referenced by errorScore(), FuseVelPosNED(), getVariances(), and healthy().

◆ hgtTimeout

bool NavEKF2_core::hgtTimeout

private

Definition at line 761 of file AP_NavEKF2_core.h.

Referenced by FuseVelPosNED(), getFilterTimeouts(), getHAGL(), InitialiseVariables(), ResetHeight(), selectHeightForFusion(), and updateFilterStatus().

◆ imu_buffer_length

uint8_t NavEKF2_core::imu_buffer_length

private

Definition at line 329 of file AP_NavEKF2_core.h.

Referenced by calcOutputStates(), ResetHeight(), ResetPosition(), ResetVelocity(), SelectVelPosFusion(), setup_core(), StoreOutputReset(), StoreQuatReset(), and StoreQuatRotate().

◆ imu_index

uint8_t NavEKF2_core::imu_index

private

Definition at line 327 of file AP_NavEKF2_core.h.

Referenced by checkAttitudeAlignmentStatus(), controlMagYawReset(), getIMUIndex(), InitialiseFilterBootstrap(), readDeltaAngle(), readIMUData(), readMagData(), realignYawGPS(), setAidingMode(), setOrigin(), and setup_core().

◆ imuDataDelayed

imu_elements NavEKF2_core::imuDataDelayed

private

◆ imuDataDownSampledNew

imu_elements NavEKF2_core::imuDataDownSampledNew

private

Definition at line 861 of file AP_NavEKF2_core.h.

Referenced by InitialiseVariables(), and readIMUData().

◆ imuDataNew

imu_elements NavEKF2_core::imuDataNew

private

Definition at line 860 of file AP_NavEKF2_core.h.

Referenced by calcOutputStates(), InitialiseFilterBootstrap(), readIMUData(), and writeOptFlowMeas().

◆ imuQuatDownSampleNew

Quaternion NavEKF2_core::imuQuatDownSampleNew

private

Definition at line 862 of file AP_NavEKF2_core.h.

Referenced by readIMUData().

◆ imuSampleTime_ms

uint32_t NavEKF2_core::imuSampleTime_ms

private

◆ inFlight

bool NavEKF2_core::inFlight

private

Definition at line 789 of file AP_NavEKF2_core.h.

Referenced by calcGpsGoodToAlign(), controlMagYawReset(), detectFlight(), fuseEulerYaw(), InitialiseVariables(), readMagData(), recordMagReset(), recordYawReset(), ResetHeight(), setOrigin(), and setWindMagStateLearningMode().

◆ inhibitGndState

bool NavEKF2_core::inhibitGndState

private

Definition at line 977 of file AP_NavEKF2_core.h.

Referenced by ConstrainStates(), EstimateTerrainOffset(), and InitialiseVariables().

◆ inhibitMagStates

bool NavEKF2_core::inhibitMagStates

private

Definition at line 839 of file AP_NavEKF2_core.h.

Referenced by alignMagStateDeclination(), CovariancePrediction(), FuseAirspeed(), FuseMagnetometer(), FuseOptFlow(), FuseRngBcn(), FuseSideslip(), FuseVelPosNED(), getMagOffsets(), InitialiseVariables(), SelectMagFusion(), and setWindMagStateLearningMode().

◆ inhibitWindStates

bool NavEKF2_core::inhibitWindStates

private

Definition at line 838 of file AP_NavEKF2_core.h.

Referenced by CovariancePrediction(), FuseMagnetometer(), FuseOptFlow(), FuseVelPosNED(), InitialiseVariables(), SelectBetaFusion(), SelectTasFusion(), and setWindMagStateLearningMode().

◆ innov

float NavEKF2_core::innov

Definition at line 1055 of file AP_NavEKF2_core.h.

Referenced by CalcRangeBeaconPosDownOffset().

◆ innovationIncrement

float NavEKF2_core::innovationIncrement

private

Definition at line 950 of file AP_NavEKF2_core.h.

Referenced by InitialiseVariables().

◆ innovMag

Vector3f NavEKF2_core::innovMag

private

Definition at line 799 of file AP_NavEKF2_core.h.

Referenced by FuseMagnetometer(), and getInnovations().

◆ innovOptFlow

Vector2 NavEKF2_core::innovOptFlow

private

Definition at line 969 of file AP_NavEKF2_core.h.

Referenced by FuseOptFlow(), and getFlowDebug().

◆ innovRng

float NavEKF2_core::innovRng

private

Definition at line 975 of file AP_NavEKF2_core.h.

Referenced by EstimateTerrainOffset(), and getFlowDebug().

◆ innovRngBcn

float NavEKF2_core::innovRngBcn

private

Definition at line 1022 of file AP_NavEKF2_core.h.

Referenced by FuseRngBcn(), FuseRngBcnStatic(), and InitialiseVariables().

◆ innovVar

float NavEKF2_core::innovVar

Definition at line 1056 of file AP_NavEKF2_core.h.

Referenced by CalcRangeBeaconPosDownOffset().

◆ innovVelPos

Vector6 NavEKF2_core::innovVelPos

private

Definition at line 793 of file AP_NavEKF2_core.h.

Referenced by FuseVelPosNED(), getInnovations(), and healthy().

◆ innovVtas

ftype NavEKF2_core::innovVtas

private

Definition at line 801 of file AP_NavEKF2_core.h.

Referenced by FuseAirspeed(), and getInnovations().

◆ innovYaw

float NavEKF2_core::innovYaw

private

Definition at line 885 of file AP_NavEKF2_core.h.

Referenced by controlMagYawReset(), detectFlight(), fuseEulerYaw(), getInnovations(), and recordMagReset().

◆ Kfusion

Vector28 NavEKF2_core::Kfusion

private

Definition at line 768 of file AP_NavEKF2_core.h.

Referenced by FuseAirspeed(), FuseDeclination(), fuseEulerYaw(), FuseMagnetometer(), FuseOptFlow(), FuseRngBcn(), FuseSideslip(), and FuseVelPosNED().

◆ KH

Matrix24 NavEKF2_core::KH

private

Definition at line 769 of file AP_NavEKF2_core.h.

Referenced by FuseAirspeed(), FuseDeclination(), fuseEulerYaw(), FuseMagnetometer(), FuseOptFlow(), FuseRngBcn(), FuseRngBcnStatic(), and FuseSideslip().

◆ KHP

Matrix24 NavEKF2_core::KHP

private

Definition at line 770 of file AP_NavEKF2_core.h.

Referenced by FuseAirspeed(), FuseDeclination(), fuseEulerYaw(), FuseMagnetometer(), FuseOptFlow(), FuseRngBcn(), FuseRngBcnStatic(), FuseSideslip(), and FuseVelPosNED().

◆ last_gps_idx

uint8_t NavEKF2_core::last_gps_idx

private

Definition at line 841 of file AP_NavEKF2_core.h.

Referenced by InitialiseVariables(), ResetPosition(), and SelectVelPosFusion().

◆ lastBaroReceived_ms

uint32_t NavEKF2_core::lastBaroReceived_ms

private

Definition at line 812 of file AP_NavEKF2_core.h.

Referenced by InitialiseVariables(), and readBaroData().

◆ lastBeaconIndex

uint8_t NavEKF2_core::lastBeaconIndex

private

Definition at line 1034 of file AP_NavEKF2_core.h.

Referenced by FuseRngBcnStatic(), and InitialiseVariables().

◆ lastDecayTime_ms

uint32_t NavEKF2_core::lastDecayTime_ms

private

Definition at line 832 of file AP_NavEKF2_core.h.

Referenced by InitialiseVariables().

◆ lastGpsAidBadTime_ms

uint32_t NavEKF2_core::lastGpsAidBadTime_ms

private

Definition at line 848 of file AP_NavEKF2_core.h.

Referenced by InitialiseVariables().

◆ lastGpsCheckTime_ms

uint32_t NavEKF2_core::lastGpsCheckTime_ms

private

Definition at line 944 of file AP_NavEKF2_core.h.

Referenced by calcGpsGoodForFlight(), and InitialiseVariables().

◆ lastGpsVelFail_ms

uint32_t NavEKF2_core::lastGpsVelFail_ms

private

Definition at line 847 of file AP_NavEKF2_core.h.

Referenced by calcGpsGoodToAlign(), InitialiseVariables(), and prearm_failure_reason().

◆ lastHealthyMagTime_ms

uint32_t NavEKF2_core::lastHealthyMagTime_ms

private

Definition at line 821 of file AP_NavEKF2_core.h.

Referenced by InitialiseVariables(), readMagData(), and SelectMagFusion().

◆ lastHgtPassTime_ms

uint32_t NavEKF2_core::lastHgtPassTime_ms

private

Definition at line 816 of file AP_NavEKF2_core.h.

Referenced by FuseVelPosNED(), InitialiseVariables(), ResetHeight(), and selectHeightForFusion().

◆ lastInnovation

float NavEKF2_core::lastInnovation

private

Definition at line 951 of file AP_NavEKF2_core.h.

Referenced by InitialiseVariables().

◆ lastInnovFailTime_ms

uint32_t NavEKF2_core::lastInnovFailTime_ms

private

Definition at line 946 of file AP_NavEKF2_core.h.

Referenced by calcGpsGoodForFlight(), and InitialiseVariables().

◆ lastInnovPassTime_ms

uint32_t NavEKF2_core::lastInnovPassTime_ms

private

Definition at line 945 of file AP_NavEKF2_core.h.

Referenced by calcGpsGoodForFlight(), and InitialiseVariables().

◆ lastKnownPositionNE

Vector2f NavEKF2_core::lastKnownPositionNE

private

Definition at line 831 of file AP_NavEKF2_core.h.

Referenced by getLLH(), InitialiseVariables(), ResetPosition(), SelectVelPosFusion(), and setAidingMode().

◆ lastMagOffsets

Vector3f NavEKF2_core::lastMagOffsets

private

Definition at line 896 of file AP_NavEKF2_core.h.

Referenced by readMagData().

◆ lastMagOffsetsValid

bool NavEKF2_core::lastMagOffsetsValid

private

Definition at line 897 of file AP_NavEKF2_core.h.

Referenced by InitialiseVariables(), and readMagData().

◆ lastMagUpdate_us

uint32_t NavEKF2_core::lastMagUpdate_us

private

Definition at line 807 of file AP_NavEKF2_core.h.

Referenced by InitialiseVariables(), and readMagData().

◆ lastOriginHgtTime_ms

uint32_t NavEKF2_core::lastOriginHgtTime_ms

private

Definition at line 923 of file AP_NavEKF2_core.h.

Referenced by correctEkfOriginHeight().

◆ lastPosPassTime_ms

uint32_t NavEKF2_core::lastPosPassTime_ms

private

Definition at line 815 of file AP_NavEKF2_core.h.

Referenced by FuseVelPosNED(), InitialiseVariables(), ResetPosition(), SelectBetaFusion(), setAidingMode(), and updateFilterStatus().

◆ lastPosReset_ms

uint32_t NavEKF2_core::lastPosReset_ms

private

Definition at line 899 of file AP_NavEKF2_core.h.

Referenced by getLastPosNorthEastReset(), InitialiseVariables(), ResetPosition(), and SelectVelPosFusion().

◆ lastPosResetD_ms

uint32_t NavEKF2_core::lastPosResetD_ms

private

Definition at line 903 of file AP_NavEKF2_core.h.

Referenced by getLastPosDownReset(), InitialiseVariables(), ResetHeight(), and SelectVelPosFusion().

◆ lastPreAlignGpsCheckTime_ms

uint32_t NavEKF2_core::lastPreAlignGpsCheckTime_ms

private

Definition at line 934 of file AP_NavEKF2_core.h.

Referenced by calcGpsGoodToAlign(), and InitialiseVariables().

◆ lastRngBcnChecked

uint8_t NavEKF2_core::lastRngBcnChecked

private

Definition at line 1029 of file AP_NavEKF2_core.h.

Referenced by InitialiseVariables(), and readRngBcnData().

◆ lastRngBcnPassTime_ms

uint32_t NavEKF2_core::lastRngBcnPassTime_ms

private

Definition at line 1017 of file AP_NavEKF2_core.h.

Referenced by FuseRngBcn(), InitialiseVariables(), ResetPosition(), and setAidingMode().

◆ lastRngMeasTime_ms

uint32_t NavEKF2_core::lastRngMeasTime_ms

private

Definition at line 1007 of file AP_NavEKF2_core.h.

Referenced by InitialiseVariables(), and readRangeFinder().

◆ lastTasPassTime_ms

uint32_t NavEKF2_core::lastTasPassTime_ms

private

Definition at line 817 of file AP_NavEKF2_core.h.

Referenced by FuseAirspeed(), InitialiseVariables(), and setAidingMode().

◆ lastTimeGpsReceived_ms

uint32_t NavEKF2_core::lastTimeGpsReceived_ms

private

Definition at line 818 of file AP_NavEKF2_core.h.

Referenced by InitialiseVariables(), readGpsData(), ResetPosition(), ResetVelocity(), and selectHeightForFusion().

◆ lastTimeRngBcn_ms

uint32_t NavEKF2_core::lastTimeRngBcn_ms[10]

private

Definition at line 1023 of file AP_NavEKF2_core.h.

Referenced by InitialiseVariables(), and readRngBcnData().

◆ lastVelPassTime_ms

uint32_t NavEKF2_core::lastVelPassTime_ms

private

Definition at line 814 of file AP_NavEKF2_core.h.

Referenced by FuseVelPosNED(), InitialiseVariables(), ResetVelocity(), and setAidingMode().

◆ lastVelReset_ms

uint32_t NavEKF2_core::lastVelReset_ms

private

Definition at line 901 of file AP_NavEKF2_core.h.

Referenced by getLastVelNorthEastReset(), InitialiseVariables(), and ResetVelocity().

◆ lastYawReset_ms

uint32_t NavEKF2_core::lastYawReset_ms

private

Definition at line 852 of file AP_NavEKF2_core.h.

Referenced by calcQuatAndFieldStates(), getLastYawResetAngle(), and InitialiseVariables().

◆ lastYawTime_ms

uint32_t NavEKF2_core::lastYawTime_ms

private

Definition at line 823 of file AP_NavEKF2_core.h.

Referenced by fuseEulerYaw(), InitialiseVariables(), and SelectMagFusion().

◆ localFilterTimeStep_ms

uint8_t NavEKF2_core::localFilterTimeStep_ms

private

Definition at line 912 of file AP_NavEKF2_core.h.

Referenced by InitialiseVariables(), readAirSpdData(), readBaroData(), readGpsData(), readMagData(), readRngBcnData(), and writeOptFlowMeas().

◆ mag_state

struct { ... } NavEKF2_core::mag_state

Referenced by FuseMagnetometer(), InitialiseVariables(), and SelectMagFusion().

◆ magD

ftype NavEKF2_core::magD

Definition at line 1142 of file AP_NavEKF2_core.h.

Referenced by FuseMagnetometer().

◆ magDataDelayed

mag_elements NavEKF2_core::magDataDelayed

private

Definition at line 875 of file AP_NavEKF2_core.h.

Referenced by calcQuatAndFieldStates(), fuseEulerYaw(), FuseMagnetometer(), and SelectMagFusion().

◆ magDataNew

mag_elements NavEKF2_core::magDataNew

private

Definition at line 874 of file AP_NavEKF2_core.h.

Referenced by readMagData().

◆ magDataToFuse

bool NavEKF2_core::magDataToFuse

private

Definition at line 987 of file AP_NavEKF2_core.h.

Referenced by readMagData(), and SelectMagFusion().

◆ magE

ftype NavEKF2_core::magE

Definition at line 1141 of file AP_NavEKF2_core.h.

Referenced by FuseDeclination(), and FuseMagnetometer().

◆ magFieldLearned

bool NavEKF2_core::magFieldLearned

private

Definition at line 916 of file AP_NavEKF2_core.h.

Referenced by alignMagStateDeclination(), calcQuatAndFieldStates(), InitialiseVariables(), readMagData(), SelectMagFusion(), and setWindMagStateLearningMode().

◆ magFusePerformed

bool NavEKF2_core::magFusePerformed

private

Definition at line 803 of file AP_NavEKF2_core.h.

Referenced by FuseMagnetometer(), SelectBetaFusion(), SelectFlowFusion(), SelectMagFusion(), SelectTasFusion(), and SelectVelPosFusion().

◆ magFuseRequired

bool NavEKF2_core::magFuseRequired

private

Definition at line 804 of file AP_NavEKF2_core.h.

Referenced by FuseMagnetometer().

◆ magHealth

bool NavEKF2_core::magHealth

private

Definition at line 757 of file AP_NavEKF2_core.h.

Referenced by fuseEulerYaw(), FuseMagnetometer(), and SelectMagFusion().

◆ magN

ftype NavEKF2_core::magN

Definition at line 1140 of file AP_NavEKF2_core.h.

Referenced by FuseDeclination(), and FuseMagnetometer().

◆ MagPred

Vector3f NavEKF2_core::MagPred

Definition at line 1148 of file AP_NavEKF2_core.h.

Referenced by FuseMagnetometer().

◆ magSelectIndex

uint8_t NavEKF2_core::magSelectIndex

private

Definition at line 908 of file AP_NavEKF2_core.h.

Referenced by getActiveMag(), getMagOffsets(), InitialiseVariables(), readMagData(), and use_compass().

◆ magStateInitComplete

bool NavEKF2_core::magStateInitComplete

private

Definition at line 857 of file AP_NavEKF2_core.h.

Referenced by detectFlight(), fuseEulerYaw(), InitialiseVariables(), recordMagReset(), SelectMagFusion(), and setWindMagStateLearningMode().

◆ magStateResetRequest

bool NavEKF2_core::magStateResetRequest

private

Definition at line 1079 of file AP_NavEKF2_core.h.

Referenced by calcQuatAndFieldStates(), controlMagYawReset(), InitialiseVariables(), readMagData(), realignYawGPS(), and SelectMagFusion().

◆ magStoreIndex

uint8_t NavEKF2_core::magStoreIndex

private

Definition at line 876 of file AP_NavEKF2_core.h.

Referenced by InitialiseVariables().

◆ magTestRatio

Vector3f NavEKF2_core::magTestRatio

private

Definition at line 836 of file AP_NavEKF2_core.h.

Referenced by calcGpsGoodToAlign(), FuseMagnetometer(), getVariances(), and SelectMagFusion().

◆ magTimeout

bool NavEKF2_core::magTimeout

private

Definition at line 762 of file AP_NavEKF2_core.h.

Referenced by getFilterTimeouts(), InitialiseVariables(), readMagData(), and SelectMagFusion().

◆ magXbias

ftype NavEKF2_core::magXbias

Definition at line 1143 of file AP_NavEKF2_core.h.

Referenced by FuseMagnetometer().

◆ magYawResetRequest

bool NavEKF2_core::magYawResetRequest

private

Definition at line 1080 of file AP_NavEKF2_core.h.

Referenced by calcGpsGoodToAlign(), checkAttitudeAlignmentStatus(), controlMagYawReset(), InitialiseVariables(), realignYawGPS(), SelectVelPosFusion(), and setWindMagStateLearningMode().

◆ magYawResetTimer_ms

uint32_t NavEKF2_core::magYawResetTimer_ms

private

Definition at line 888 of file AP_NavEKF2_core.h.

Referenced by calcGpsGoodToAlign(), and InitialiseVariables().

◆ magYbias

ftype NavEKF2_core::magYbias

Definition at line 1144 of file AP_NavEKF2_core.h.

Referenced by FuseMagnetometer().

◆ magZbias

ftype NavEKF2_core::magZbias

Definition at line 1145 of file AP_NavEKF2_core.h.

Referenced by FuseMagnetometer().

◆ manoeuvring

bool NavEKF2_core::manoeuvring

private

Definition at line 791 of file AP_NavEKF2_core.h.

Referenced by InitialiseVariables(), and setWindMagStateLearningMode().

◆ maxBcnPosD

float NavEKF2_core::maxBcnPosD

private

Definition at line 1039 of file AP_NavEKF2_core.h.

Referenced by CalcRangeBeaconPosDownOffset(), FuseRngBcnStatic(), and InitialiseVariables().

◆ meaHgtAtTakeOff

float NavEKF2_core::meaHgtAtTakeOff

private

Definition at line 1074 of file AP_NavEKF2_core.h.

Referenced by readBaroData(), selectHeightForFusion(), and setAidingMode().

◆ minBcnPosD

float NavEKF2_core::minBcnPosD

private

Definition at line 1040 of file AP_NavEKF2_core.h.

Referenced by CalcRangeBeaconPosDownOffset(), FuseRngBcnStatic(), and InitialiseVariables().

◆ motorsArmed

bool NavEKF2_core::motorsArmed

private

Definition at line 890 of file AP_NavEKF2_core.h.

Referenced by calcGpsGoodToAlign(), controlFilterModes(), detectFlight(), FuseVelPosNED(), InitialiseVariables(), selectHeightForFusion(), and setInhibitGPS().

◆ N_beacons

uint8_t NavEKF2_core::N_beacons

private

Definition at line 1038 of file AP_NavEKF2_core.h.

Referenced by getRangeBeaconDebug(), InitialiseVariables(), and readRngBcnData().

◆ nextP

Matrix24 NavEKF2_core::nextP

private

Definition at line 825 of file AP_NavEKF2_core.h.

Referenced by CopyCovariances(), CovariancePrediction(), and InitialiseVariables().

◆ numBcnMeas

uint8_t NavEKF2_core::numBcnMeas

private

Definition at line 1036 of file AP_NavEKF2_core.h.

Referenced by FuseRngBcnStatic(), and InitialiseVariables().

◆ OBS_BUFFER_LENGTH

const uint32_t NavEKF2_core::OBS_BUFFER_LENGTH = 5

staticprivate

Definition at line 750 of file AP_NavEKF2_core.h.

Referenced by setup_core().

◆ obsIndex

uint8_t NavEKF2_core::obsIndex

Definition at line 1146 of file AP_NavEKF2_core.h.

Referenced by FuseMagnetometer(), FuseOptFlow(), and FuseVelPosNED().

◆ ofDataDelayed

of_elements NavEKF2_core::ofDataDelayed

private

Definition at line 956 of file AP_NavEKF2_core.h.

Referenced by EstimateTerrainOffset(), FuseOptFlow(), SelectFlowFusion(), and writeOptFlowMeas().

◆ ofDataNew

of_elements NavEKF2_core::ofDataNew

private

Definition at line 955 of file AP_NavEKF2_core.h.

Referenced by writeOptFlowMeas().

◆ OffsetMaxInnovFilt

float NavEKF2_core::OffsetMaxInnovFilt

private

Definition at line 1045 of file AP_NavEKF2_core.h.

Referenced by CalcRangeBeaconPosDownOffset(), and InitialiseVariables().

◆ OffsetMinInnovFilt

float NavEKF2_core::OffsetMinInnovFilt

private

Definition at line 1049 of file AP_NavEKF2_core.h.

Referenced by CalcRangeBeaconPosDownOffset(), and InitialiseVariables().

◆ ofStoreIndex

uint8_t NavEKF2_core::ofStoreIndex

private

Definition at line 957 of file AP_NavEKF2_core.h.

Referenced by InitialiseVariables().

◆ onGround

bool NavEKF2_core::onGround

private

Definition at line 787 of file AP_NavEKF2_core.h.

Referenced by calcGpsGoodToAlign(), controlMagYawReset(), detectFlight(), detectOptFlowTakeoff(), FuseVelPosNED(), healthy(), InitialiseVariables(), readMagData(), ResetHeight(), SelectMagFusion(), and setWindMagStateLearningMode().

◆ optFlowFusionDelayed

bool NavEKF2_core::optFlowFusionDelayed

private

Definition at line 893 of file AP_NavEKF2_core.h.

Referenced by InitialiseVariables(), and SelectFlowFusion().

◆ outputDataDelayed

output_elements NavEKF2_core::outputDataDelayed

private

Definition at line 881 of file AP_NavEKF2_core.h.

Referenced by calcOutputStates(), ResetHeight(), ResetPosition(), ResetVelocity(), SelectVelPosFusion(), StoreOutputReset(), StoreQuatReset(), and StoreQuatRotate().

◆ outputDataNew

output_elements NavEKF2_core::outputDataNew

private

Definition at line 880 of file AP_NavEKF2_core.h.

Referenced by calcOutputStates(), getEulerAngles(), getHAGL(), getLLH(), getPosD(), getPosNE(), getQuaternion(), getRotationBodyToNED(), getVelNED(), readGpsData(), ResetHeight(), ResetPosition(), ResetVelocity(), SelectVelPosFusion(), StoreOutputReset(), StoreQuatReset(), and StoreQuatRotate().

◆ outputTrackError

Vector3f NavEKF2_core::outputTrackError

private

Definition at line 924 of file AP_NavEKF2_core.h.

Referenced by calcOutputStates(), and getOutputTrackingError().

◆ P

Matrix24 NavEKF2_core::P

private

◆ Popt

float NavEKF2_core::Popt

private

Definition at line 970 of file AP_NavEKF2_core.h.

Referenced by CovarianceInit(), EstimateTerrainOffset(), getFlowDebug(), and InitialiseVariables().

◆ posDown

float NavEKF2_core::posDown

private

Definition at line 930 of file AP_NavEKF2_core.h.

Referenced by InitialiseVariables(), and StoreOutputReset().

◆ posDownAtLastMagReset

float NavEKF2_core::posDownAtLastMagReset

private

Definition at line 1082 of file AP_NavEKF2_core.h.

Referenced by controlMagYawReset(), detectFlight(), InitialiseVariables(), and recordMagReset().

◆ posDownAtTakeoff

float NavEKF2_core::posDownAtTakeoff

private

Definition at line 849 of file AP_NavEKF2_core.h.

Referenced by controlMagYawReset(), and detectFlight().

◆ posDownDerivative

float NavEKF2_core::posDownDerivative

private

Definition at line 929 of file AP_NavEKF2_core.h.

Referenced by getPosDownDerivative(), InitialiseVariables(), and StoreOutputReset().

◆ posDownObsNoise

float NavEKF2_core::posDownObsNoise

private

Definition at line 913 of file AP_NavEKF2_core.h.

Referenced by FuseVelPosNED(), ResetHeight(), selectHeightForFusion(), and setAidingMode().

◆ posErrintegral

Vector3f NavEKF2_core::posErrintegral

private

Definition at line 884 of file AP_NavEKF2_core.h.

Referenced by calcOutputStates(), and InitialiseVariables().

◆ posHealth

bool NavEKF2_core::posHealth

private

Definition at line 755 of file AP_NavEKF2_core.h.

Referenced by FuseVelPosNED().

◆ posOffsetNED

Vector3f NavEKF2_core::posOffsetNED

private

Definition at line 926 of file AP_NavEKF2_core.h.

Referenced by calcOutputStates(), getHAGL(), getLLH(), getPosD(), getPosNE(), and InitialiseVariables().

◆ posResetD

float NavEKF2_core::posResetD

private

Definition at line 902 of file AP_NavEKF2_core.h.

Referenced by getLastPosDownReset(), InitialiseVariables(), ResetHeight(), and SelectVelPosFusion().

◆ posResetNE

Vector2f NavEKF2_core::posResetNE

private

Definition at line 898 of file AP_NavEKF2_core.h.

Referenced by getLastPosNorthEastReset(), getVariances(), InitialiseVariables(), ResetPosition(), and SelectVelPosFusion().

◆ posTestRatio

float NavEKF2_core::posTestRatio

private

Definition at line 834 of file AP_NavEKF2_core.h.

Referenced by calcGpsGoodForFlight(), errorScore(), FuseVelPosNED(), getVariances(), healthy(), and setAidingMode().

◆ posTimeout

bool NavEKF2_core::posTimeout

private

Definition at line 760 of file AP_NavEKF2_core.h.

Referenced by FuseAirspeed(), FuseVelPosNED(), getFilterTimeouts(), InitialiseVariables(), ResetPosition(), setAidingMode(), and updateFilterStatus().

◆ posVelFusionDelayed

bool NavEKF2_core::posVelFusionDelayed

private

Definition at line 892 of file AP_NavEKF2_core.h.

Referenced by InitialiseVariables(), and SelectVelPosFusion().

◆ prearm_fail_string

char NavEKF2_core::prearm_fail_string[40]

private

Definition at line 1154 of file AP_NavEKF2_core.h.

Referenced by calcGpsGoodToAlign(), InitialiseFilterBootstrap(), and prearm_failure_reason().

◆ prevBetaStep_ms

uint32_t NavEKF2_core::prevBetaStep_ms

private

Definition at line 806 of file AP_NavEKF2_core.h.

Referenced by InitialiseVariables(), and SelectBetaFusion().

◆ prevFlowFuseTime_ms

uint32_t NavEKF2_core::prevFlowFuseTime_ms

private

Definition at line 978 of file AP_NavEKF2_core.h.

Referenced by FuseOptFlow(), InitialiseVariables(), and setAidingMode().

◆ prevInFlight

bool NavEKF2_core::prevInFlight

private

Definition at line 790 of file AP_NavEKF2_core.h.

Referenced by detectFlight(), and InitialiseVariables().

◆ prevMotorsArmed

bool NavEKF2_core::prevMotorsArmed

private

Definition at line 891 of file AP_NavEKF2_core.h.

Referenced by controlFilterModes(), and InitialiseVariables().

◆ prevOnGround

bool NavEKF2_core::prevOnGround

private

Definition at line 788 of file AP_NavEKF2_core.h.

Referenced by detectFlight(), and InitialiseVariables().

◆ prevPosE

float NavEKF2_core::prevPosE

private

Definition at line 973 of file AP_NavEKF2_core.h.

Referenced by EstimateTerrainOffset(), and InitialiseVariables().

◆ prevPosN

float NavEKF2_core::prevPosN

private

Definition at line 972 of file AP_NavEKF2_core.h.

Referenced by EstimateTerrainOffset(), and InitialiseVariables().

◆ prevQuatMagReset

Quaternion NavEKF2_core::prevQuatMagReset

private

Definition at line 905 of file AP_NavEKF2_core.h.

Referenced by controlMagYawReset().

◆ prevTasStep_ms

uint32_t NavEKF2_core::prevTasStep_ms

private

Definition at line 805 of file AP_NavEKF2_core.h.

Referenced by InitialiseVariables(), and SelectTasFusion().

◆ prevTnb

Matrix3f NavEKF2_core::prevTnb

private

Definition at line 779 of file AP_NavEKF2_core.h.

Referenced by EstimateTerrainOffset(), fuseEulerYaw(), FuseOptFlow(), FuseSideslip(), InitialiseVariables(), SelectFlowFusion(), selectHeightForFusion(), SelectVelPosFusion(), and UpdateStrapdownEquationsNED().

◆ processNoise

Vector24 NavEKF2_core::processNoise

private

Definition at line 826 of file AP_NavEKF2_core.h.

Referenced by CovariancePrediction(), and InitialiseVariables().

◆ PV_AidingMode

AidingMode NavEKF2_core::PV_AidingMode

private

◆ PV_AidingModePrev

AidingMode NavEKF2_core::PV_AidingModePrev

private

Definition at line 994 of file AP_NavEKF2_core.h.

Referenced by InitialiseVariables(), and setAidingMode().

◆ q0

ftype NavEKF2_core::q0

Definition at line 1136 of file AP_NavEKF2_core.h.

Referenced by CovariancePrediction(), EstimateTerrainOffset(), fuseEulerYaw(), FuseMagnetometer(), FuseOptFlow(), and FuseSideslip().

◆ q1

ftype NavEKF2_core::q1

Definition at line 1137 of file AP_NavEKF2_core.h.

Referenced by CovariancePrediction(), EstimateTerrainOffset(), fuseEulerYaw(), FuseMagnetometer(), FuseOptFlow(), and FuseSideslip().

◆ q2

ftype NavEKF2_core::q2

Definition at line 1138 of file AP_NavEKF2_core.h.

Referenced by CovariancePrediction(), EstimateTerrainOffset(), fuseEulerYaw(), FuseMagnetometer(), FuseOptFlow(), and FuseSideslip().

◆ q3

ftype NavEKF2_core::q3

Definition at line 1139 of file AP_NavEKF2_core.h.

Referenced by CovariancePrediction(), EstimateTerrainOffset(), fuseEulerYaw(), FuseMagnetometer(), FuseOptFlow(), and FuseSideslip().

◆ quatAtLastMagReset

Quaternion NavEKF2_core::quatAtLastMagReset

private

Definition at line 1084 of file AP_NavEKF2_core.h.

Referenced by controlMagYawReset(), detectFlight(), InitialiseVariables(), and recordMagReset().

◆ R_LOS

float NavEKF2_core::R_LOS

private

Definition at line 981 of file AP_NavEKF2_core.h.

Referenced by EstimateTerrainOffset(), FuseOptFlow(), and SelectFlowFusion().

◆ R_MAG

ftype NavEKF2_core::R_MAG

Definition at line 1149 of file AP_NavEKF2_core.h.

Referenced by FuseMagnetometer().

◆ rangeDataDelayed

range_elements NavEKF2_core::rangeDataDelayed

private

Definition at line 869 of file AP_NavEKF2_core.h.

Referenced by EstimateTerrainOffset(), getFlowDebug(), and selectHeightForFusion().

◆ rangeDataNew

range_elements NavEKF2_core::rangeDataNew

private

Definition at line 868 of file AP_NavEKF2_core.h.

Referenced by detectFlight(), detectOptFlowTakeoff(), and readRangeFinder().

◆ rangeDataToFuse

bool NavEKF2_core::rangeDataToFuse

private

Definition at line 984 of file AP_NavEKF2_core.h.

Referenced by EstimateTerrainOffset(), InitialiseVariables(), SelectFlowFusion(), and selectHeightForFusion().

◆ rangeStoreIndex

uint8_t NavEKF2_core::rangeStoreIndex

private

Definition at line 870 of file AP_NavEKF2_core.h.

Referenced by InitialiseVariables().

◆ receiverPos

Vector3f NavEKF2_core::receiverPos

private

Definition at line 1030 of file AP_NavEKF2_core.h.

Referenced by FuseRngBcnStatic(), getPosNE(), InitialiseVariables(), readRngBcnData(), ResetPosition(), and setAidingMode().

◆ receiverPosCov

float NavEKF2_core::receiverPosCov[3][3]

private

Definition at line 1031 of file AP_NavEKF2_core.h.

Referenced by FuseRngBcnStatic(), InitialiseVariables(), readRngBcnData(), and ResetPosition().

◆ rng

float NavEKF2_core::rng

Definition at line 1054 of file AP_NavEKF2_core.h.

◆ rngAtStartOfFlight

float NavEKF2_core::rngAtStartOfFlight

private

Definition at line 1066 of file AP_NavEKF2_core.h.

Referenced by detectFlight(), and detectOptFlowTakeoff().

◆ rngBcnAlignmentCompleted

bool NavEKF2_core::rngBcnAlignmentCompleted

private

Definition at line 1033 of file AP_NavEKF2_core.h.

Referenced by FuseRngBcnStatic(), InitialiseVariables(), and readRngBcnData().

◆ rngBcnAlignmentStarted

bool NavEKF2_core::rngBcnAlignmentStarted

private

Definition at line 1032 of file AP_NavEKF2_core.h.

Referenced by FuseRngBcnStatic(), getPosNE(), and InitialiseVariables().

◆ rngBcnDataDelayed

rng_bcn_elements NavEKF2_core::rngBcnDataDelayed

private

Definition at line 1015 of file AP_NavEKF2_core.h.

Referenced by CalcRangeBeaconPosDownOffset(), FuseRngBcn(), FuseRngBcnStatic(), InitialiseVariables(), and readRngBcnData().

◆ rngBcnDataNew

rng_bcn_elements NavEKF2_core::rngBcnDataNew

private

Definition at line 1014 of file AP_NavEKF2_core.h.

Referenced by InitialiseVariables(), and readRngBcnData().

◆ rngBcnDataToFuse

bool NavEKF2_core::rngBcnDataToFuse

private

Definition at line 1024 of file AP_NavEKF2_core.h.

Referenced by InitialiseVariables(), readRngBcnData(), readyToUseRangeBeacon(), and SelectRngBcnFusion().

◆ rngBcnFuseDataReportIndex

uint8_t NavEKF2_core::rngBcnFuseDataReportIndex

private

Definition at line 1052 of file AP_NavEKF2_core.h.

Referenced by getRangeBeaconDebug(), and InitialiseVariables().

◆ rngBcnFusionReport

struct { ... } NavEKF2_core::rngBcnFusionReport[10]

Referenced by FuseRngBcn(), getRangeBeaconDebug(), and InitialiseVariables().

◆ rngBcnGoodToAlign

bool NavEKF2_core::rngBcnGoodToAlign

private

Definition at line 1028 of file AP_NavEKF2_core.h.

Referenced by InitialiseVariables(), readRngBcnData(), readyToUseRangeBeacon(), and selectHeightForFusion().

◆ rngBcnHealth

bool NavEKF2_core::rngBcnHealth

private

Definition at line 1019 of file AP_NavEKF2_core.h.

Referenced by FuseRngBcn(), and InitialiseVariables().

◆ rngBcnLast3DmeasTime_ms

uint32_t NavEKF2_core::rngBcnLast3DmeasTime_ms

private

Definition at line 1027 of file AP_NavEKF2_core.h.

Referenced by InitialiseVariables(), readRngBcnData(), and ResetPosition().

◆ rngBcnPosSum

Vector3f NavEKF2_core::rngBcnPosSum

private

Definition at line 1035 of file AP_NavEKF2_core.h.

Referenced by FuseRngBcnStatic(), and InitialiseVariables().

◆ rngBcnStoreIndex

uint8_t NavEKF2_core::rngBcnStoreIndex

private

Definition at line 1016 of file AP_NavEKF2_core.h.

Referenced by InitialiseVariables().

◆ rngBcnTestRatio

float NavEKF2_core::rngBcnTestRatio

private

Definition at line 1018 of file AP_NavEKF2_core.h.

Referenced by FuseRngBcn(), and InitialiseVariables().

◆ rngBcnTimeout

bool NavEKF2_core::rngBcnTimeout

private

Definition at line 1020 of file AP_NavEKF2_core.h.

Referenced by InitialiseVariables(), ResetPosition(), and setAidingMode().

◆ rngMeasIndex

uint8_t NavEKF2_core::rngMeasIndex[2]

private

Definition at line 1008 of file AP_NavEKF2_core.h.

Referenced by InitialiseVariables(), and readRangeFinder().

◆ rngOnGnd

float NavEKF2_core::rngOnGnd

private

Definition at line 1004 of file AP_NavEKF2_core.h.

Referenced by ConstrainStates(), EstimateTerrainOffset(), FuseOptFlow(), getEkfControlLimits(), readRangeFinder(), ResetHeight(), and selectHeightForFusion().

◆ rngSum

float NavEKF2_core::rngSum

private

Definition at line 1037 of file AP_NavEKF2_core.h.

Referenced by FuseRngBcnStatic(), and InitialiseVariables().

◆ rngValidMeaTime_ms

uint32_t NavEKF2_core::rngValidMeaTime_ms

private

Definition at line 964 of file AP_NavEKF2_core.h.

Referenced by InitialiseVariables(), readRangeFinder(), and selectHeightForFusion().

◆ runUpdates

bool NavEKF2_core::runUpdates

private

Definition at line 909 of file AP_NavEKF2_core.h.

Referenced by calcOutputStates(), InitialiseVariables(), readIMUData(), and UpdateFilter().

◆ sAccFilterState1

float NavEKF2_core::sAccFilterState1

private

Definition at line 942 of file AP_NavEKF2_core.h.

Referenced by calcGpsGoodForFlight(), and InitialiseVariables().

◆ sAccFilterState2

float NavEKF2_core::sAccFilterState2

private

Definition at line 943 of file AP_NavEKF2_core.h.

Referenced by calcGpsGoodForFlight(), and InitialiseVariables().

◆ secondLastGpsTime_ms

uint32_t NavEKF2_core::secondLastGpsTime_ms

private

Definition at line 820 of file AP_NavEKF2_core.h.

Referenced by InitialiseVariables(), and readGpsData().

◆ SF

Vector25 NavEKF2_core::SF

private

Definition at line 827 of file AP_NavEKF2_core.h.

Referenced by CovariancePrediction().

◆ SG

Vector5 NavEKF2_core::SG

private

Definition at line 828 of file AP_NavEKF2_core.h.

Referenced by CovariancePrediction().

◆ SH_MAG

Vector9 NavEKF2_core::SH_MAG

Definition at line 1150 of file AP_NavEKF2_core.h.

Referenced by FuseMagnetometer().

◆ sideSlipFusionDelayed

bool NavEKF2_core::sideSlipFusionDelayed

private

Definition at line 895 of file AP_NavEKF2_core.h.

Referenced by InitialiseVariables(), and SelectBetaFusion().

◆ SPP

Vector23 NavEKF2_core::SPP

private

Definition at line 830 of file AP_NavEKF2_core.h.

Referenced by CovariancePrediction().

◆ SQ

Vector8 NavEKF2_core::SQ

private

Definition at line 829 of file AP_NavEKF2_core.h.

Referenced by CovariancePrediction().

◆ startPredictEnabled

bool NavEKF2_core::startPredictEnabled

private

Definition at line 911 of file AP_NavEKF2_core.h.

Referenced by readIMUData(), and UpdateFilter().

◆ stateIndexLim

uint8_t NavEKF2_core::stateIndexLim

private

Definition at line 858 of file AP_NavEKF2_core.h.

Referenced by CopyCovariances(), CovariancePrediction(), ForceSymmetry(), FuseAirspeed(), FuseDeclination(), fuseEulerYaw(), FuseMagnetometer(), FuseOptFlow(), FuseRngBcn(), FuseSideslip(), FuseVelPosNED(), InitialiseVariables(), and setWindMagStateLearningMode().

◆ statesArray

Vector28 NavEKF2_core::statesArray

private

Definition at line 386 of file AP_NavEKF2_core.h.

Referenced by ConstrainStates(), FuseAirspeed(), FuseDeclination(), fuseEulerYaw(), FuseMagnetometer(), FuseOptFlow(), FuseRngBcn(), FuseSideslip(), FuseVelPosNED(), and InitialiseVariables().

◆ statesInitialised

bool NavEKF2_core::statesInitialised

private

Definition at line 753 of file AP_NavEKF2_core.h.

Referenced by getFilterFaults(), getGyroScaleErrorPercentage(), getRangeBeaconDebug(), InitialiseFilterBootstrap(), SelectMagFusion(), SelectTasFusion(), and UpdateFilter().

◆ stateStruct

struct NavEKF2_core::state_elements & NavEKF2_core::stateStruct

private

Referenced by alignMagStateDeclination(), calcFiltBaroOffset(), calcOutputStates(), calcQuatAndFieldStates(), ConstrainStates(), controlMagYawReset(), correctDeltaAngle(), correctDeltaVelocity(), correctEkfOriginHeight(), CovariancePrediction(), detectFlight(), EstimateTerrainOffset(), FuseAirspeed(), FuseDeclination(), fuseEulerYaw(), FuseMagnetometer(), FuseOptFlow(), FuseRngBcn(), FuseRngBcnStatic(), FuseSideslip(), FuseVelPosNED(), getAccelZBias(), getEkfControlLimits(), getFilterFaults(), getFlowDebug(), getGyroBias(), getGyroScaleErrorPercentage(), getMagNED(), getMagOffsets(), getMagXYZ(), getWind(), InitialiseFilterBootstrap(), InitialiseVariables(), readMagData(), realignYawGPS(), recordMagReset(), resetGyroBias(), ResetHeight(), resetHeightDatum(), ResetPosition(), ResetVelocity(), SelectFlowFusion(), selectHeightForFusion(), SelectVelPosFusion(), setAidingMode(), setOrigin(), setWindMagStateLearningMode(), StoreOutputReset(), StoreQuatReset(), updateFilterStatus(), UpdateStrapdownEquationsNED(), and writeOptFlowMeas().

◆ storedBaro

obs_ring_buffer_t<baro_elements> NavEKF2_core::storedBaro

private

Definition at line 775 of file AP_NavEKF2_core.h.

Referenced by InitialiseVariables(), readBaroData(), selectHeightForFusion(), and setup_core().

◆ storedExtNav

obs_ring_buffer_t<ext_nav_elements> NavEKF2_core::storedExtNav

private

Definition at line 1087 of file AP_NavEKF2_core.h.

Referenced by InitialiseVariables(), SelectVelPosFusion(), setup_core(), and writeExtNavData().

◆ storedGPS

obs_ring_buffer_t<gps_elements> NavEKF2_core::storedGPS

private

Definition at line 773 of file AP_NavEKF2_core.h.

Referenced by InitialiseVariables(), readGpsData(), SelectVelPosFusion(), and setup_core().

◆ storedIMU

imu_ring_buffer_t<imu_elements> NavEKF2_core::storedIMU

private

Definition at line 772 of file AP_NavEKF2_core.h.

Referenced by calcOutputStates(), InitialiseFilterBootstrap(), InitialiseVariables(), readIMUData(), and setup_core().

◆ storedMag

obs_ring_buffer_t<mag_elements> NavEKF2_core::storedMag

private

Definition at line 774 of file AP_NavEKF2_core.h.

Referenced by InitialiseVariables(), readMagData(), SelectMagFusion(), and setup_core().

◆ storedOF

obs_ring_buffer_t<of_elements> NavEKF2_core::storedOF

private

Definition at line 954 of file AP_NavEKF2_core.h.

Referenced by setup_core(), and writeOptFlowMeas().

◆ storedOutput

imu_ring_buffer_t<output_elements> NavEKF2_core::storedOutput

private

Definition at line 778 of file AP_NavEKF2_core.h.

Referenced by calcOutputStates(), InitialiseVariables(), ResetHeight(), ResetPosition(), ResetVelocity(), SelectVelPosFusion(), setup_core(), StoreOutputReset(), StoreQuatReset(), and StoreQuatRotate().

◆ storedRange

obs_ring_buffer_t<range_elements> NavEKF2_core::storedRange

private

Definition at line 777 of file AP_NavEKF2_core.h.

Referenced by InitialiseVariables(), readRangeFinder(), selectHeightForFusion(), and setup_core().

◆ storedRangeBeacon

obs_ring_buffer_t<rng_bcn_elements> NavEKF2_core::storedRangeBeacon

private

Definition at line 1013 of file AP_NavEKF2_core.h.

Referenced by InitialiseVariables(), readRngBcnData(), and setup_core().

◆ storedRngMeas

float NavEKF2_core::storedRngMeas[2][3]

private

Definition at line 1005 of file AP_NavEKF2_core.h.

Referenced by InitialiseVariables(), and readRangeFinder().

◆ storedRngMeasTime_ms

uint32_t NavEKF2_core::storedRngMeasTime_ms[2][3]

private

Definition at line 1006 of file AP_NavEKF2_core.h.

Referenced by InitialiseVariables(), and readRangeFinder().

◆ storedTAS

obs_ring_buffer_t<tas_elements> NavEKF2_core::storedTAS

private

Definition at line 776 of file AP_NavEKF2_core.h.

Referenced by InitialiseVariables(), readAirSpdData(), and setup_core().

◆ takeOffDetected

bool NavEKF2_core::takeOffDetected

private

Definition at line 1065 of file AP_NavEKF2_core.h.

Referenced by detectOptFlowTakeoff(), readRangeFinder(), SelectFlowFusion(), and updateFilterStatus().

◆ takeoffExpectedSet_ms

uint32_t NavEKF2_core::takeoffExpectedSet_ms

private

Definition at line 1071 of file AP_NavEKF2_core.h.

Referenced by getTakeoffExpected(), InitialiseVariables(), and setTakeoffExpected().

◆ tasDataDelayed

tas_elements NavEKF2_core::tasDataDelayed

private

Definition at line 872 of file AP_NavEKF2_core.h.

Referenced by FuseAirspeed(), readAirSpdData(), and setWindMagStateLearningMode().

◆ tasDataNew

tas_elements NavEKF2_core::tasDataNew

private

Definition at line 871 of file AP_NavEKF2_core.h.

Referenced by readAirSpdData(), and SelectTasFusion().

◆ tasDataToFuse

bool NavEKF2_core::tasDataToFuse

private

Definition at line 811 of file AP_NavEKF2_core.h.

Referenced by readAirSpdData(), and SelectTasFusion().

◆ tasHealth

bool NavEKF2_core::tasHealth

private

Definition at line 758 of file AP_NavEKF2_core.h.

Referenced by FuseAirspeed().

◆ tasStoreIndex

uint8_t NavEKF2_core::tasStoreIndex

private

Definition at line 873 of file AP_NavEKF2_core.h.

Referenced by InitialiseVariables().

◆ tasTestRatio

float NavEKF2_core::tasTestRatio

private

Definition at line 837 of file AP_NavEKF2_core.h.

Referenced by FuseAirspeed(), and getVariances().

◆ tasTimeout

bool NavEKF2_core::tasTimeout

private

Definition at line 763 of file AP_NavEKF2_core.h.

Referenced by FuseAirspeed(), getFilterTimeouts(), InitialiseVariables(), SelectTasFusion(), setAidingMode(), and updateFilterStatus().

◆ Tbn_flow

Matrix3f NavEKF2_core::Tbn_flow

private

Definition at line 967 of file AP_NavEKF2_core.h.

Referenced by writeOptFlowMeas().

◆ terrainHgtStable

bool NavEKF2_core::terrainHgtStable

private

Definition at line 1009 of file AP_NavEKF2_core.h.

Referenced by InitialiseVariables(), selectHeightForFusion(), and setTerrainHgtStable().

◆ terrainHgtStableSet_ms

uint32_t NavEKF2_core::terrainHgtStableSet_ms

private

Definition at line 1010 of file AP_NavEKF2_core.h.

Referenced by InitialiseVariables(), and setTerrainHgtStable().

◆ terrainState

float NavEKF2_core::terrainState

private

Definition at line 971 of file AP_NavEKF2_core.h.

Referenced by ConstrainStates(), EstimateTerrainOffset(), FuseOptFlow(), getEkfControlLimits(), getFlowDebug(), getHAGL(), getHeightControlLimit(), InitialiseVariables(), ResetHeight(), resetHeightDatum(), SelectFlowFusion(), and selectHeightForFusion().

◆ testRatio

float NavEKF2_core::testRatio

Definition at line 1057 of file AP_NavEKF2_core.h.

◆ tiltAlignComplete

bool NavEKF2_core::tiltAlignComplete

private

Definition at line 855 of file AP_NavEKF2_core.h.

Referenced by checkAttitudeAlignmentStatus(), errorScore(), FuseVelPosNED(), InitialiseVariables(), readyToUseExtNav(), readyToUseGPS(), readyToUseRangeBeacon(), setAidingMode(), and updateFilterStatus().

◆ tiltErrFilt

float NavEKF2_core::tiltErrFilt

private

Definition at line 854 of file AP_NavEKF2_core.h.

Referenced by checkAttitudeAlignmentStatus(), errorScore(), getTiltError(), and InitialiseVariables().

◆ tiltErrVec

Vector3f NavEKF2_core::tiltErrVec

private

Definition at line 853 of file AP_NavEKF2_core.h.

Referenced by checkAttitudeAlignmentStatus(), and FuseVelPosNED().

◆ timeAtArming_ms

uint32_t NavEKF2_core::timeAtArming_ms

private

Definition at line 1067 of file AP_NavEKF2_core.h.

Referenced by controlFilterModes(), and detectOptFlowTakeoff().

◆ timeAtLastAuxEKF_ms

uint32_t NavEKF2_core::timeAtLastAuxEKF_ms

private

Definition at line 819 of file AP_NavEKF2_core.h.

Referenced by EstimateTerrainOffset(), and InitialiseVariables().

◆ timeTasReceived_ms

uint32_t NavEKF2_core::timeTasReceived_ms

private

Definition at line 886 of file AP_NavEKF2_core.h.

Referenced by InitialiseVariables(), and readAirSpdData().

◆ timing

struct ekf_timing NavEKF2_core::timing

private

Definition at line 1168 of file AP_NavEKF2_core.h.

Referenced by getIMUIndex(), getTimingStatistics(), and updateTimingStatistics().

◆ touchdownExpectedSet_ms

uint32_t NavEKF2_core::touchdownExpectedSet_ms

private

Definition at line 1073 of file AP_NavEKF2_core.h.

Referenced by getTouchdownExpected(), InitialiseVariables(), and setTouchdownExpected().

◆ useGpsVertVel

bool NavEKF2_core::useGpsVertVel

private

Definition at line 850 of file AP_NavEKF2_core.h.

Referenced by FuseVelPosNED(), readGpsData(), selectHeightForFusion(), and updateFilterStatus().

◆ validOrigin

bool NavEKF2_core::validOrigin

private

Definition at line 843 of file AP_NavEKF2_core.h.

Referenced by getLLH(), getOriginLLH(), getPosNE(), InitialiseVariables(), readGpsData(), readRngBcnData(), readyToUseGPS(), resetHeightDatum(), selectHeightForFusion(), setOrigin(), setOriginLLH(), and updateFilterStatus().

◆ varInnovMag

Vector3f NavEKF2_core::varInnovMag

private

Definition at line 800 of file AP_NavEKF2_core.h.

Referenced by FuseMagnetometer().

◆ varInnovOptFlow

Vector2 NavEKF2_core::varInnovOptFlow

private

Definition at line 968 of file AP_NavEKF2_core.h.

Referenced by FuseOptFlow().

◆ varInnovRng

float NavEKF2_core::varInnovRng

private

Definition at line 974 of file AP_NavEKF2_core.h.

Referenced by EstimateTerrainOffset().

◆ varInnovRngBcn

float NavEKF2_core::varInnovRngBcn

private

Definition at line 1021 of file AP_NavEKF2_core.h.

Referenced by FuseRngBcn(), FuseRngBcnStatic(), and InitialiseVariables().

◆ varInnovVelPos

Vector6 NavEKF2_core::varInnovVelPos

private

Definition at line 794 of file AP_NavEKF2_core.h.

Referenced by FuseVelPosNED().

◆ varInnovVtas

ftype NavEKF2_core::varInnovVtas

private

Definition at line 802 of file AP_NavEKF2_core.h.

Referenced by FuseAirspeed().

◆ velDotNED

Vector3f NavEKF2_core::velDotNED

private

Definition at line 808 of file AP_NavEKF2_core.h.

Referenced by getAccelNED(), and UpdateStrapdownEquationsNED().

◆ velDotNEDfilt

Vector3f NavEKF2_core::velDotNEDfilt

private

Definition at line 809 of file AP_NavEKF2_core.h.

Referenced by InitialiseVariables(), and UpdateStrapdownEquationsNED().

◆ velErrintegral

Vector3f NavEKF2_core::velErrintegral

private

Definition at line 883 of file AP_NavEKF2_core.h.

Referenced by calcOutputStates(), and InitialiseVariables().

◆ velHealth

bool NavEKF2_core::velHealth

private

Definition at line 754 of file AP_NavEKF2_core.h.

Referenced by FuseVelPosNED().

◆ velOffsetNED

Vector3f NavEKF2_core::velOffsetNED

private

Definition at line 925 of file AP_NavEKF2_core.h.

Referenced by calcOutputStates(), getPosDownDerivative(), getVelNED(), and InitialiseVariables().

◆ velPosObs

Vector6 NavEKF2_core::velPosObs

private

Definition at line 795 of file AP_NavEKF2_core.h.

Referenced by FuseVelPosNED(), InitialiseVariables(), selectHeightForFusion(), and SelectVelPosFusion().

◆ velResetNE

Vector2f NavEKF2_core::velResetNE

private

Definition at line 900 of file AP_NavEKF2_core.h.

Referenced by getLastVelNorthEastReset(), InitialiseVariables(), and ResetVelocity().

◆ velTestRatio

float NavEKF2_core::velTestRatio

private

Definition at line 833 of file AP_NavEKF2_core.h.

Referenced by calcGpsGoodForFlight(), errorScore(), FuseVelPosNED(), getVariances(), healthy(), realignYawGPS(), and setAidingMode().

◆ velTimeout

bool NavEKF2_core::velTimeout

private

Definition at line 759 of file AP_NavEKF2_core.h.

Referenced by FuseVelPosNED(), getFilterTimeouts(), InitialiseVariables(), ResetVelocity(), selectHeightForFusion(), setAidingMode(), and updateFilterStatus().

◆ yawAlignComplete

bool NavEKF2_core::yawAlignComplete

private

Definition at line 856 of file AP_NavEKF2_core.h.

Referenced by checkAttitudeAlignmentStatus(), controlMagYawReset(), errorScore(), fuseEulerYaw(), InitialiseVariables(), readyToUseGPS(), readyToUseRangeBeacon(), realignYawGPS(), recordYawReset(), SelectMagFusion(), SelectVelPosFusion(), setAidingMode(), setWindMagStateLearningMode(), and updateFilterStatus().

◆ yawInnovAtLastMagReset

float NavEKF2_core::yawInnovAtLastMagReset

private

Definition at line 1083 of file AP_NavEKF2_core.h.

Referenced by controlMagYawReset(), detectFlight(), InitialiseVariables(), and recordMagReset().

◆ yawResetAngle

float NavEKF2_core::yawResetAngle

private

Definition at line 851 of file AP_NavEKF2_core.h.

Referenced by calcQuatAndFieldStates(), getLastYawResetAngle(), and InitialiseVariables().

◆ yawTestRatio

float NavEKF2_core::yawTestRatio

private

Definition at line 904 of file AP_NavEKF2_core.h.

Referenced by calcGpsGoodToAlign(), fuseEulerYaw(), getVariances(), and SelectMagFusion().

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

libraries/AP_NavEKF2/AP_NavEKF2_core.h
libraries/AP_NavEKF2/AP_NavEKF2_AirDataFusion.cpp
libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp
libraries/AP_NavEKF2/AP_NavEKF2_core.cpp
libraries/AP_NavEKF2/AP_NavEKF2_MagFusion.cpp
libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp
libraries/AP_NavEKF2/AP_NavEKF2_OptFlowFusion.cpp
libraries/AP_NavEKF2/AP_NavEKF2_Outputs.cpp
libraries/AP_NavEKF2/AP_NavEKF2_PosVelFusion.cpp
libraries/AP_NavEKF2/AP_NavEKF2_RngBcnFusion.cpp
libraries/AP_NavEKF2/AP_NavEKF2_VehicleStatus.cpp
libraries/AP_NavEKF2/AP_NavEKF_GyroBias.cpp

Classes

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Member Typedef Documentation

◆ ftype

◆ Matrix24

◆ Matrix3

◆ Matrix34_50

◆ Vector10

◆ Vector11

◆ Vector13

◆ Vector14

◆ Vector15

◆ Vector2

◆ Vector22

◆ Vector23

◆ Vector24

◆ Vector25

◆ Vector28

◆ Vector3

◆ Vector4

◆ Vector5

◆ Vector6

◆ Vector7

◆ Vector8

◆ Vector9

◆ Vector_u32_50

Member Enumeration Documentation

◆ AidingMode

Constructor & Destructor Documentation

◆ NavEKF2_core()

Member Function Documentation

◆ alignMagStateDeclination()

◆ assume_zero_sideslip()

◆ calcEarthRateNED()

◆ calcFiltBaroOffset()

◆ calcGpsGoodForFlight()

◆ calcGpsGoodToAlign()

◆ calcIMU_Weighting()

◆ calcOutputStates()

◆ calcQuatAndFieldStates()

◆ CalcRangeBeaconPosDownOffset()

◆ checkAttitudeAlignmentStatus()

◆ checkDivergence()

◆ checkGyroCalStatus()

◆ ConstrainStates()

◆ ConstrainVariances()

◆ controlFilterModes()

◆ controlMagYawReset()

◆ CopyCovariances()

◆ correctDeltaAngle()

◆ correctDeltaVelocity()

◆ correctEkfOriginHeight()

◆ CovarianceInit()

◆ CovariancePrediction()

◆ detectFlight()

◆ detectOptFlowTakeoff()

◆ effective_magCal()

◆ errorScore()

◆ EstimateTerrainOffset()

◆ ForceSymmetry()

◆ FuseAirspeed()

◆ FuseDeclination()

◆ fuseEulerYaw()

◆ FuseMagnetometer()

◆ FuseOptFlow()

◆ FuseRngBcn()

◆ FuseRngBcnStatic()

◆ FuseSideslip()

◆ FuseVelPosNED()

◆ getAccelNED()

◆ getAccelZBias()

◆ getActiveMag()

◆ getEkfControlLimits()

◆ getEulerAngles()

◆ getFilterFaults()