#include <AP_NavEKF3.h>

Collaboration diagram for NavEKF3:

Public Member Functions
	NavEKF3 (const AP_AHRS *ahrs, const RangeFinder &rng)

	NavEKF3 (const NavEKF3 &other)=delete

NavEKF3 &	operator= (const NavEKF3 &)=delete

uint8_t	activeCores (void) const

bool	InitialiseFilter (void)

void	UpdateFilter (void)

void	check_log_write (void)

bool	healthy (void) const

int8_t	getPrimaryCoreIndex (void) const

int8_t	getPrimaryCoreIMUIndex (void) const

bool	getPosNE (int8_t instance, Vector2f &posNE) const

bool	getPosD (int8_t instance, float &posD) const

void	getVelNED (int8_t instance, Vector3f &vel) const

float	getPosDownDerivative (int8_t instance) const

void	getAccelNED (Vector3f &accelNED) const

void	getGyroBias (int8_t instance, Vector3f &gyroBias) const

void	getAccelBias (int8_t instance, Vector3f &accelBias) const

void	getTiltError (int8_t instance, float &ang) const

void	resetGyroBias (void)

bool	resetHeightDatum (void)

uint8_t	setInhibitGPS (void)

void	setInhibitGpsVertVelUse (const bool varIn)

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

void	getWind (int8_t instance, Vector3f &wind) const

void	getMagNED (int8_t instance, Vector3f &magNED) const

void	getMagXYZ (int8_t instance, Vector3f &magXYZ) const

uint8_t	getActiveMag (int8_t instance) const

bool	getMagOffsets (uint8_t mag_idx, Vector3f &magOffsets) const

bool	getLLH (struct Location &loc) const

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

bool	setOriginLLH (const Location &loc)

bool	getHAGL (float &HAGL) const

void	getEulerAngles (int8_t instance, Vector3f &eulers) const

void	getRotationBodyToNED (Matrix3f &mat) const

void	getQuaternion (int8_t instance, Quaternion &quat) const

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

void	getOutputTrackingError (int8_t instance, Vector3f &error) const

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

void	getStateVariances (int8_t instance, float stateVar[24]) const

bool	use_compass (void) const

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

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

void	writeWheelOdom (float delAng, float delTime, uint32_t timeStamp_ms, const Vector3f &posOffset, float radius)

uint32_t	getBodyFrameOdomDebug (int8_t instance, Vector3f &velInnov, Vector3f &velInnovVar) const

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

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

void	setTakeoffExpected (bool val)

void	setTouchdownExpected (bool val)

void	setTerrainHgtStable (bool val)

void	getFilterFaults (int8_t instance, uint16_t &faults) const

void	getFilterTimeouts (int8_t instance, uint8_t &timeouts) const

void	getFilterGpsStatus (int8_t instance, nav_gps_status &faults) const

void	getFilterStatus (int8_t instance, nav_filter_status &status) const

void	send_status_report (mavlink_channel_t chan)

bool	getHeightControlLimit (float &height) const

uint32_t	getLastYawResetAngle (float &yawAngDelta)

uint32_t	getLastPosNorthEastReset (Vector2f &posDelta)

uint32_t	getLastVelNorthEastReset (Vector2f &vel) const

uint32_t	getLastPosDownReset (float &posDelta)

const char *	prearm_failure_reason (void) const

void	set_baro_alt_noise (float noise)

void	set_enable (bool enable)

bool	have_ekf_logging (void) const

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

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

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

void	updateLaneSwitchPosResetData (uint8_t new_primary, uint8_t old_primary)

void	updateLaneSwitchPosDownResetData (uint8_t new_primary, uint8_t old_primary)

Private Attributes
uint8_t	num_cores

uint8_t	primary

NavEKF3_core *	core = nullptr

const AP_AHRS *	_ahrs

const RangeFinder &	_rng

uint32_t	_frameTimeUsec

uint8_t	_framesPerPrediction

AP_Int8	_enable

AP_Float	_gpsHorizVelNoise

AP_Float	_gpsVertVelNoise

AP_Float	_gpsHorizPosNoise

AP_Float	_baroAltNoise

AP_Float	_magNoise

AP_Float	_easNoise

AP_Float	_windVelProcessNoise

AP_Float	_wndVarHgtRateScale

AP_Float	_magEarthProcessNoise

AP_Float	_magBodyProcessNoise

AP_Float	_gyrNoise

AP_Float	_accNoise

AP_Float	_gyroBiasProcessNoise

AP_Float	_accelBiasProcessNoise

AP_Int16	_hgtDelay_ms

AP_Int8	_fusionModeGPS

AP_Int16	_gpsVelInnovGate

AP_Int16	_gpsPosInnovGate

AP_Int16	_hgtInnovGate

AP_Int16	_magInnovGate

AP_Int16	_tasInnovGate

AP_Int8	_magCal

AP_Int8	_gpsGlitchRadiusMax

AP_Float	_flowNoise

AP_Int16	_flowInnovGate

AP_Int8	_flowDelay_ms

AP_Int16	_rngInnovGate

AP_Float	_maxFlowRate

AP_Int8	_altSource

AP_Float	_rngNoise

AP_Int8	_gpsCheck

AP_Int8	_imuMask

AP_Int16	_gpsCheckScaler

AP_Float	_noaidHorizNoise

AP_Int8	_logging_mask

AP_Float	_yawNoise

AP_Int16	_yawInnovGate

AP_Int8	_tauVelPosOutput

AP_Int8	_useRngSwHgt

AP_Float	_terrGradMax

AP_Float	_rngBcnNoise

AP_Int16	_rngBcnInnovGate

AP_Int8	_rngBcnDelay_ms

AP_Float	_useRngSwSpd

AP_Float	_accBiasLim

AP_Int8	_magMask

AP_Int8	_originHgtMode

AP_Float	_visOdmVelErrMax

AP_Float	_visOdmVelErrMin

AP_Float	_wencOdmVelErr

const float	gpsNEVelVarAccScale = 0.05f

const float	gpsDVelVarAccScale = 0.07f

const float	gpsPosVarAccScale = 0.05f

const uint16_t	magDelay_ms = 60

const uint16_t	tasDelay_ms = 100

const uint16_t	tiltDriftTimeMax_ms = 15000

const uint16_t	posRetryTimeUseVel_ms = 10000

const uint16_t	posRetryTimeNoVel_ms = 7000

const uint16_t	hgtRetryTimeMode0_ms = 10000

const uint16_t	hgtRetryTimeMode12_ms = 5000

const uint16_t	tasRetryTime_ms = 5000

const uint32_t	magFailTimeLimit_ms = 10000

const float	magVarRateScale = 0.005f

const float	gyroBiasNoiseScaler = 2.0f

const uint16_t	hgtAvg_ms = 100

const uint16_t	betaAvg_ms = 100

const float	covTimeStepMax = 0.1f

const float	covDelAngMax = 0.05f

const float	DCM33FlowMin = 0.71f

const float	fScaleFactorPnoise = 1e-10f

const uint8_t	flowTimeDeltaAvg_ms = 100

const uint32_t	flowIntervalMax_ms = 100

const uint16_t	gndEffectTimeout_ms = 1000

const float	gndEffectBaroScaler = 4.0f

const uint8_t	gndGradientSigma = 50

const uint16_t	fusionTimeStep_ms = 10

const uint8_t	sensorIntervalMin_ms = 50

struct {
bool enabled:1

bool log_compass:1

bool log_gps:1

bool log_baro:1

bool log_imu:1

}	logging

uint64_t	imuSampleTime_us

struct {
uint32_t last_function_call

bool core_changed

uint32_t last_primary_change

float core_delta

}	yaw_reset_data

struct {
uint32_t last_function_call

bool core_changed

uint32_t last_primary_change

Vector2f core_delta

}	pos_reset_data

struct {
uint32_t last_function_call

bool core_changed

uint32_t last_primary_change

float core_delta

}	pos_down_reset_data

bool	runCoreSelection

bool	coreSetupRequired [7]

uint8_t	coreImuIndex [7]

bool	inhibitGpsVertVelUse

Friends
class	NavEKF3_core

Detailed Description

Definition at line 34 of file AP_NavEKF3.h.

Constructor & Destructor Documentation

◆ NavEKF3() [1/2]

NavEKF3::NavEKF3	(	const AP_AHRS *	ahrs,
		const RangeFinder &	rng
	)

Definition at line 582 of file AP_NavEKF3.cpp.

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◆ NavEKF3() [2/2]

NavEKF3::NavEKF3 ( const NavEKF3 & other )

delete

Member Function Documentation

◆ activeCores()

uint8_t NavEKF3::activeCores ( void ) const

inline

Definition at line 47 of file AP_NavEKF3.h.

Referenced by DataFlash_Class::Log_Write_POS().

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◆ check_log_write()

void NavEKF3::check_log_write ( void )

Definition at line 592 of file AP_NavEKF3.cpp.

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

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◆ getAccelBias()

void NavEKF3::getAccelBias	(	int8_t	instance,
		Vector3f &	accelBias
	)		const

Definition at line 878 of file AP_NavEKF3.cpp.

Referenced by activeCores(), AP_AHRS_NavEKF::getCorrectedDeltaVelocityNED(), DataFlash_Class::Log_Write_POS(), and AP_AHRS_NavEKF::update_EKF3().

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◆ getAccelNED()

void NavEKF3::getAccelNED ( Vector3f & accelNED ) const

Definition at line 861 of file AP_NavEKF3.cpp.

Referenced by activeCores().

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◆ getActiveMag()

uint8_t NavEKF3::getActiveMag ( int8_t instance ) const

Definition at line 974 of file AP_NavEKF3.cpp.

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

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◆ getBodyFrameOdomDebug()

uint32_t NavEKF3::getBodyFrameOdomDebug	(	int8_t	instance,
		Vector3f &	velInnov,
		Vector3f &	velInnovVar
	)		const

Definition at line 1185 of file AP_NavEKF3.cpp.

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

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◆ getEkfControlLimits()

void NavEKF3::getEkfControlLimits	(	float &	ekfGndSpdLimit,
		float &	ekfNavVelGainScaler
	)		const

Definition at line 939 of file AP_NavEKF3.cpp.

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

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◆ getEulerAngles()

void NavEKF3::getEulerAngles	(	int8_t	instance,
		Vector3f &	eulers
	)		const

Definition at line 1051 of file AP_NavEKF3.cpp.

Referenced by DataFlash_Class::Log_Write_POS(), setInhibitGpsVertVelUse(), and AP_AHRS_NavEKF::update_EKF3().

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◆ getFilterFaults()

void NavEKF3::getFilterFaults	(	int8_t	instance,
		uint16_t &	faults
	)		const

Definition at line 1257 of file AP_NavEKF3.cpp.

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

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◆ getFilterGpsStatus()

void NavEKF3::getFilterGpsStatus	(	int8_t	instance,
		nav_gps_status &	faults
	)		const

Definition at line 1304 of file AP_NavEKF3.cpp.

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

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◆ getFilterStatus()

void NavEKF3::getFilterStatus	(	int8_t	instance,
		nav_filter_status &	status
	)		const

Definition at line 1291 of file AP_NavEKF3.cpp.

Referenced by AP_AHRS_NavEKF::active_EKF_type(), AP_AHRS_NavEKF::get_filter_status(), DataFlash_Class::Log_Write_POS(), setInhibitGpsVertVelUse(), and AP_AHRS_NavEKF::update_EKF3().

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◆ getFilterTimeouts()

void NavEKF3::getFilterTimeouts	(	int8_t	instance,
		uint8_t &	timeouts
	)		const

Definition at line 1278 of file AP_NavEKF3.cpp.

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

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◆ getFlowDebug()

void NavEKF3::getFlowDebug	(	int8_t	instance,
		float &	varFlow,
		float &	gndOffset,
		float &	flowInnovX,
		float &	flowInnovY,
		float &	auxInnov,
		float &	HAGL,
		float &	rngInnov,
		float &	range,
		float &	gndOffsetErr
	)		const

Definition at line 1139 of file AP_NavEKF3.cpp.

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

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◆ getGyroBias()

void NavEKF3::getGyroBias	(	int8_t	instance,
		Vector3f &	gyroBias
	)		const

Definition at line 869 of file AP_NavEKF3.cpp.

Referenced by activeCores(), DataFlash_Class::Log_Write_POS(), and AP_AHRS_NavEKF::update_EKF3().

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◆ getHAGL()

bool NavEKF3::getHAGL ( float & HAGL ) const

Definition at line 1042 of file AP_NavEKF3.cpp.

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

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◆ getHeightControlLimit()

bool NavEKF3::getHeightControlLimit ( float & height ) const

Definition at line 1325 of file AP_NavEKF3.cpp.

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

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◆ getInnovations()

void NavEKF3::getInnovations	(	int8_t	index,
		Vector3f &	velInnov,
		Vector3f &	posInnov,
		Vector3f &	magInnov,
		float &	tasInnov,
		float &	yawInnov
	)		const

Definition at line 1077 of file AP_NavEKF3.cpp.

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

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◆ getLastPosDownReset()

uint32_t NavEKF3::getLastPosDownReset ( float & posDelta )

Definition at line 1431 of file AP_NavEKF3.cpp.

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

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◆ getLastPosNorthEastReset()

uint32_t NavEKF3::getLastPosNorthEastReset ( Vector2f & posDelta )

Definition at line 1374 of file AP_NavEKF3.cpp.

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

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◆ getLastVelNorthEastReset()

uint32_t NavEKF3::getLastVelNorthEastReset ( Vector2f & vel ) const

Definition at line 1411 of file AP_NavEKF3.cpp.

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

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◆ getLastYawResetAngle()

uint32_t NavEKF3::getLastYawResetAngle ( float & yawAngDelta )

Definition at line 1336 of file AP_NavEKF3.cpp.

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

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◆ getLLH()

bool NavEKF3::getLLH ( struct Location & loc ) const

Definition at line 1007 of file AP_NavEKF3.cpp.

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

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◆ getMagNED()

void NavEKF3::getMagNED	(	int8_t	instance,
		Vector3f &	magNED
	)		const

Definition at line 956 of file AP_NavEKF3.cpp.

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

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◆ getMagOffsets()

bool NavEKF3::getMagOffsets	(	uint8_t	mag_idx,
		Vector3f &	magOffsets
	)		const

Definition at line 986 of file AP_NavEKF3.cpp.

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

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◆ getMagXYZ()

void NavEKF3::getMagXYZ	(	int8_t	instance,
		Vector3f &	magXYZ
	)		const

Definition at line 965 of file AP_NavEKF3.cpp.

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

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◆ getOriginLLH()

bool NavEKF3::getOriginLLH	(	int8_t	instance,
		struct Location &	loc
	)		const

Definition at line 1019 of file AP_NavEKF3.cpp.

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

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◆ getOutputTrackingError()

void NavEKF3::getOutputTrackingError	(	int8_t	instance,
		Vector3f &	error
	)		const

Definition at line 1086 of file AP_NavEKF3.cpp.

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

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◆ getPosD()

bool NavEKF3::getPosD	(	int8_t	instance,
		float &	posD
	)		const

Definition at line 831 of file AP_NavEKF3.cpp.

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

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◆ getPosDownDerivative()

float NavEKF3::getPosDownDerivative ( int8_t instance ) const

Definition at line 850 of file AP_NavEKF3.cpp.

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

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◆ getPosNE()

bool NavEKF3::getPosNE	(	int8_t	instance,
		Vector2f &	posNE
	)		const

Definition at line 819 of file AP_NavEKF3.cpp.

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

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◆ getPrimaryCoreIMUIndex()

int8_t NavEKF3::getPrimaryCoreIMUIndex ( void ) const

Definition at line 808 of file AP_NavEKF3.cpp.

Referenced by activeCores(), AP_AHRS_NavEKF::get_primary_IMU_index(), AP_AHRS_NavEKF::getCorrectedDeltaVelocityNED(), and AP_AHRS_NavEKF::update_EKF3().

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◆ getPrimaryCoreIndex()

int8_t NavEKF3::getPrimaryCoreIndex ( void ) const

Definition at line 798 of file AP_NavEKF3.cpp.

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

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◆ getQuaternion()

void NavEKF3::getQuaternion	(	int8_t	instance,
		Quaternion &	quat
	)		const

Definition at line 1068 of file AP_NavEKF3.cpp.

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

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◆ getRangeBeaconDebug()

bool NavEKF3::getRangeBeaconDebug	(	int8_t	instance,
		uint8_t &	ID,
		float &	rng,
		float &	innov,
		float &	innovVar,
		float &	testRatio,
		Vector3f &	beaconPosNED,
		float &	offsetHigh,
		float &	offsetLow,
		Vector3f &	posNED
	)		const

Definition at line 1200 of file AP_NavEKF3.cpp.

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

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◆ getRotationBodyToNED()

void NavEKF3::getRotationBodyToNED ( Matrix3f & mat ) const

Definition at line 1060 of file AP_NavEKF3.cpp.

Referenced by setInhibitGpsVertVelUse(), and AP_AHRS_NavEKF::update_EKF3().

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◆ getStateVariances()

void NavEKF3::getStateVariances	(	int8_t	instance,
		float	stateVar[24]
	)		const

Definition at line 1104 of file AP_NavEKF3.cpp.

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

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◆ getTiltError()

void NavEKF3::getTiltError	(	int8_t	instance,
		float &	ang
	)		const

Definition at line 887 of file AP_NavEKF3.cpp.

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

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◆ getTimingStatistics()

void NavEKF3::getTimingStatistics	(	int8_t	instance,
		struct ekf_timing &	timing
	)		const

Definition at line 1547 of file AP_NavEKF3.cpp.

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

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◆ getVariances()

void NavEKF3::getVariances	(	int8_t	instance,
		float &	velVar,
		float &	posVar,
		float &	hgtVar,
		Vector3f &	magVar,
		float &	tasVar,
		Vector2f &	offset
	)		const

Definition at line 1095 of file AP_NavEKF3.cpp.

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

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◆ getVelNED()

void NavEKF3::getVelNED	(	int8_t	instance,
		Vector3f &	vel
	)		const

Definition at line 841 of file AP_NavEKF3.cpp.

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

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◆ getWind()

void NavEKF3::getWind	(	int8_t	instance,
		Vector3f &	wind
	)		const

Definition at line 947 of file AP_NavEKF3.cpp.

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

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◆ have_ekf_logging()

bool NavEKF3::have_ekf_logging ( void ) const

inline

Definition at line 352 of file AP_NavEKF3.h.

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

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◆ healthy()

bool NavEKF3::healthy ( void ) const

Definition at line 788 of file AP_NavEKF3.cpp.

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

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◆ InitialiseFilter()

bool NavEKF3::InitialiseFilter ( void )

Definition at line 620 of file AP_NavEKF3.cpp.

Referenced by activeCores(), AP_AHRS_NavEKF::reset(), AP_AHRS_NavEKF::reset_attitude(), and AP_AHRS_NavEKF::update_EKF3().

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◆ operator=()

NavEKF3& NavEKF3::operator= ( const NavEKF3 & )

delete

◆ prearm_failure_reason()

const char * NavEKF3::prearm_failure_reason ( void ) const

Definition at line 1420 of file AP_NavEKF3.cpp.

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

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◆ resetGyroBias()

void NavEKF3::resetGyroBias ( void )

Definition at line 896 of file AP_NavEKF3.cpp.

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

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◆ resetHeightDatum()

bool NavEKF3::resetHeightDatum ( void )

Definition at line 910 of file AP_NavEKF3.cpp.

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

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◆ send_status_report()

void NavEKF3::send_status_report ( mavlink_channel_t chan )

Definition at line 1315 of file AP_NavEKF3.cpp.

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

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◆ set_baro_alt_noise()

void NavEKF3::set_baro_alt_noise ( float noise )

inline

Definition at line 346 of file AP_NavEKF3.h.

◆ set_enable()

void NavEKF3::set_enable ( bool enable )

inline

Definition at line 349 of file AP_NavEKF3.h.

◆ setInhibitGPS()

uint8_t NavEKF3::setInhibitGPS ( void )

Definition at line 929 of file AP_NavEKF3.cpp.

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

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◆ setInhibitGpsVertVelUse()

void NavEKF3::setInhibitGpsVertVelUse ( const bool varIn )

inline

Definition at line 126 of file AP_NavEKF3.h.

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◆ setOriginLLH()

bool NavEKF3::setOriginLLH ( const Location & loc )

Definition at line 1032 of file AP_NavEKF3.cpp.

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

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◆ setTakeoffExpected()

void NavEKF3::setTakeoffExpected ( bool val )

Definition at line 1213 of file AP_NavEKF3.cpp.

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

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◆ setTerrainHgtStable()

void NavEKF3::setTerrainHgtStable ( bool val )

Definition at line 1236 of file AP_NavEKF3.cpp.

Referenced by setInhibitGpsVertVelUse().

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◆ setTouchdownExpected()

void NavEKF3::setTouchdownExpected ( bool val )

Definition at line 1224 of file AP_NavEKF3.cpp.

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

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◆ UpdateFilter()

void NavEKF3::UpdateFilter ( void )

Definition at line 720 of file AP_NavEKF3.cpp.

Referenced by activeCores(), and AP_AHRS_NavEKF::update_EKF3().

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◆ updateLaneSwitchPosDownResetData()

void NavEKF3::updateLaneSwitchPosDownResetData	(	uint8_t	new_primary,
		uint8_t	old_primary
	)

private

Definition at line 1520 of file AP_NavEKF3.cpp.

Referenced by UpdateFilter().

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◆ updateLaneSwitchPosResetData()

void NavEKF3::updateLaneSwitchPosResetData	(	uint8_t	new_primary,
		uint8_t	old_primary
	)

private

Definition at line 1493 of file AP_NavEKF3.cpp.

Referenced by UpdateFilter().

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◆ updateLaneSwitchYawResetData()

void NavEKF3::updateLaneSwitchYawResetData	(	uint8_t	new_primary,
		uint8_t	old_primary
	)

private

Definition at line 1467 of file AP_NavEKF3.cpp.

Referenced by UpdateFilter().

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◆ use_compass()

bool NavEKF3::use_compass ( void ) const

Definition at line 1114 of file AP_NavEKF3.cpp.

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

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◆ writeBodyFrameOdom()

void NavEKF3::writeBodyFrameOdom	(	float	quality,
		const Vector3f &	delPos,
		const Vector3f &	delAng,
		float	delTime,
		uint32_t	timeStamp_ms,
		const Vector3f &	posOffset
	)

Definition at line 1158 of file AP_NavEKF3.cpp.

Referenced by setInhibitGpsVertVelUse(), AP_AHRS_NavEKF::update_SITL(), and AP_AHRS_NavEKF::writeBodyFrameOdom().

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◆ writeOptFlowMeas()

void NavEKF3::writeOptFlowMeas	(	uint8_t &	rawFlowQuality,
		Vector2f &	rawFlowRates,
		Vector2f &	rawGyroRates,
		uint32_t &	msecFlowMeas,
		const Vector3f &	posOffset
	)

Definition at line 1129 of file AP_NavEKF3.cpp.

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

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◆ writeWheelOdom()

void NavEKF3::writeWheelOdom	(	float	delAng,
		float	delTime,
		uint32_t	timeStamp_ms,
		const Vector3f &	posOffset,
		float	radius
	)

Definition at line 1175 of file AP_NavEKF3.cpp.

Referenced by setInhibitGpsVertVelUse().

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Friends And Related Function Documentation

◆ NavEKF3_core

friend class NavEKF3_core

friend

Definition at line 35 of file AP_NavEKF3.h.

Referenced by InitialiseFilter().

Member Data Documentation

◆ _accBiasLim

AP_Float NavEKF3::_accBiasLim

private

Definition at line 413 of file AP_NavEKF3.h.

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

◆ _accelBiasProcessNoise

AP_Float NavEKF3::_accelBiasProcessNoise

private

Definition at line 382 of file AP_NavEKF3.h.

◆ _accNoise

AP_Float NavEKF3::_accNoise

private

Definition at line 380 of file AP_NavEKF3.h.

◆ _ahrs

const AP_AHRS* NavEKF3::_ahrs

private

Definition at line 361 of file AP_NavEKF3.h.

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

◆ _altSource

AP_Int8 NavEKF3::_altSource

private

Definition at line 397 of file AP_NavEKF3.h.

Referenced by NavEKF3_core::FuseVelPosNED(), NavEKF3_core::getHeightControlLimit(), NavEKF3_core::selectHeightForFusion(), and NavEKF3_core::updateFilterStatus().

◆ _baroAltNoise

AP_Float NavEKF3::_baroAltNoise

private

Definition at line 372 of file AP_NavEKF3.h.

Referenced by NavEKF3_core::CovarianceInit(), NavEKF3_core::selectHeightForFusion(), and set_baro_alt_noise().

◆ _easNoise

AP_Float NavEKF3::_easNoise

private

Definition at line 374 of file AP_NavEKF3.h.

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

◆ _enable

AP_Int8 NavEKF3::_enable

private

Definition at line 368 of file AP_NavEKF3.h.

Referenced by InitialiseFilter(), and set_enable().

◆ _flowDelay_ms

AP_Int8 NavEKF3::_flowDelay_ms

private

Definition at line 394 of file AP_NavEKF3.h.

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

◆ _flowInnovGate

AP_Int16 NavEKF3::_flowInnovGate

private

Definition at line 393 of file AP_NavEKF3.h.

Referenced by NavEKF3_core::EstimateTerrainOffset(), and NavEKF3_core::FuseOptFlow().

◆ _flowNoise

AP_Float NavEKF3::_flowNoise

private

Definition at line 392 of file AP_NavEKF3.h.

Referenced by NavEKF3_core::SelectFlowFusion().

◆ _framesPerPrediction

uint8_t NavEKF3::_framesPerPrediction

private

Definition at line 365 of file AP_NavEKF3.h.

Referenced by InitialiseFilter(), and UpdateFilter().

◆ _frameTimeUsec

uint32_t NavEKF3::_frameTimeUsec

private

Definition at line 364 of file AP_NavEKF3.h.

Referenced by InitialiseFilter(), and UpdateFilter().

◆ _fusionModeGPS

AP_Int8 NavEKF3::_fusionModeGPS

private

Definition at line 384 of file AP_NavEKF3.h.

Referenced by NavEKF3_core::calcGpsGoodToAlign(), NavEKF3_core::FuseVelPosNED(), NavEKF3_core::getHeightControlLimit(), NavEKF3_core::readGpsData(), NavEKF3_core::readyToUseGPS(), NavEKF3_core::ResetHeight(), NavEKF3_core::SelectVelPosFusion(), NavEKF3_core::setup_core(), and NavEKF3_core::updateFilterStatus().

◆ _gpsCheck

AP_Int8 NavEKF3::_gpsCheck

private

Definition at line 399 of file AP_NavEKF3.h.

Referenced by NavEKF3_core::calcGpsGoodToAlign().

◆ _gpsCheckScaler

AP_Int16 NavEKF3::_gpsCheckScaler

private

Definition at line 401 of file AP_NavEKF3.h.

Referenced by NavEKF3_core::calcGpsGoodToAlign().

◆ _gpsGlitchRadiusMax

AP_Int8 NavEKF3::_gpsGlitchRadiusMax

private

Definition at line 391 of file AP_NavEKF3.h.

Referenced by NavEKF3_core::FuseVelPosNED().

◆ _gpsHorizPosNoise

AP_Float NavEKF3::_gpsHorizPosNoise

private

Definition at line 371 of file AP_NavEKF3.h.

Referenced by NavEKF3_core::CovarianceInit(), NavEKF3_core::FuseVelPosNED(), NavEKF3_core::ResetPosition(), and NavEKF3_core::selectHeightForFusion().

◆ _gpsHorizVelNoise

AP_Float NavEKF3::_gpsHorizVelNoise

private

Definition at line 369 of file AP_NavEKF3.h.

Referenced by NavEKF3_core::CovarianceInit(), NavEKF3_core::FuseVelPosNED(), and NavEKF3_core::ResetVelocity().

◆ _gpsPosInnovGate

AP_Int16 NavEKF3::_gpsPosInnovGate

private

Definition at line 386 of file AP_NavEKF3.h.

Referenced by NavEKF3_core::FuseVelPosNED().

◆ _gpsVelInnovGate

AP_Int16 NavEKF3::_gpsVelInnovGate

private

Definition at line 385 of file AP_NavEKF3.h.

Referenced by NavEKF3_core::FuseVelPosNED().

◆ _gpsVertVelNoise

AP_Float NavEKF3::_gpsVertVelNoise

private

Definition at line 370 of file AP_NavEKF3.h.

Referenced by NavEKF3_core::CovarianceInit(), NavEKF3_core::FuseVelPosNED(), and NavEKF3_core::ResetHeight().

◆ _gyrNoise

AP_Float NavEKF3::_gyrNoise

private

Definition at line 379 of file AP_NavEKF3.h.

◆ _gyroBiasProcessNoise

AP_Float NavEKF3::_gyroBiasProcessNoise

private

Definition at line 381 of file AP_NavEKF3.h.

◆ _hgtDelay_ms

AP_Int16 NavEKF3::_hgtDelay_ms

private

Definition at line 383 of file AP_NavEKF3.h.

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

◆ _hgtInnovGate

AP_Int16 NavEKF3::_hgtInnovGate

private

Definition at line 387 of file AP_NavEKF3.h.

Referenced by NavEKF3_core::FuseVelPosNED().

◆ _imuMask

AP_Int8 NavEKF3::_imuMask

private

Definition at line 400 of file AP_NavEKF3.h.

Referenced by InitialiseFilter().

◆ _logging_mask

AP_Int8 NavEKF3::_logging_mask

private

Definition at line 403 of file AP_NavEKF3.h.

Referenced by check_log_write(), and have_ekf_logging().

◆ _magBodyProcessNoise

AP_Float NavEKF3::_magBodyProcessNoise

private

Definition at line 378 of file AP_NavEKF3.h.

◆ _magCal

AP_Int8 NavEKF3::_magCal

private

Definition at line 390 of file AP_NavEKF3.h.

Referenced by NavEKF3_core::effective_magCal().

◆ _magEarthProcessNoise

AP_Float NavEKF3::_magEarthProcessNoise

private

Definition at line 377 of file AP_NavEKF3.h.

◆ _magInnovGate

AP_Int16 NavEKF3::_magInnovGate

private

Definition at line 388 of file AP_NavEKF3.h.

Referenced by NavEKF3_core::FuseMagnetometer().

◆ _magMask

AP_Int8 NavEKF3::_magMask

private

Definition at line 414 of file AP_NavEKF3.h.

Referenced by NavEKF3_core::effective_magCal().

◆ _magNoise

AP_Float NavEKF3::_magNoise

private

Definition at line 373 of file AP_NavEKF3.h.

Referenced by NavEKF3_core::calcQuatAndFieldStates(), NavEKF3_core::FuseMagnetometer(), and NavEKF3_core::setWindMagStateLearningMode().

◆ _maxFlowRate

AP_Float NavEKF3::_maxFlowRate

private

Definition at line 396 of file AP_NavEKF3.h.

Referenced by NavEKF3_core::EstimateTerrainOffset(), NavEKF3_core::FuseOptFlow(), and NavEKF3_core::getEkfControlLimits().

◆ _noaidHorizNoise

AP_Float NavEKF3::_noaidHorizNoise

private

Definition at line 402 of file AP_NavEKF3.h.

Referenced by NavEKF3_core::FuseVelPosNED().

◆ _originHgtMode

AP_Int8 NavEKF3::_originHgtMode

private

Definition at line 415 of file AP_NavEKF3.h.

Referenced by NavEKF3_core::getOriginLLH(), NavEKF3_core::getPosD(), and NavEKF3_core::selectHeightForFusion().

◆ _rng

const RangeFinder& NavEKF3::_rng

private

Definition at line 362 of file AP_NavEKF3.h.

Referenced by NavEKF3_core::getHeightControlLimit(), NavEKF3_core::readRangeFinder(), and NavEKF3_core::selectHeightForFusion().

◆ _rngBcnDelay_ms

AP_Int8 NavEKF3::_rngBcnDelay_ms

private

Definition at line 411 of file AP_NavEKF3.h.

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

◆ _rngBcnInnovGate

AP_Int16 NavEKF3::_rngBcnInnovGate

private

Definition at line 410 of file AP_NavEKF3.h.

Referenced by NavEKF3_core::FuseRngBcn(), and NavEKF3_core::FuseRngBcnStatic().

◆ _rngBcnNoise

AP_Float NavEKF3::_rngBcnNoise

private

Definition at line 409 of file AP_NavEKF3.h.

Referenced by NavEKF3_core::readRngBcnData().

◆ _rngInnovGate

AP_Int16 NavEKF3::_rngInnovGate

private

Definition at line 395 of file AP_NavEKF3.h.

Referenced by NavEKF3_core::EstimateTerrainOffset().

◆ _rngNoise

AP_Float NavEKF3::_rngNoise

private

Definition at line 398 of file AP_NavEKF3.h.

Referenced by NavEKF3_core::EstimateTerrainOffset(), and NavEKF3_core::selectHeightForFusion().

◆ _tasInnovGate

AP_Int16 NavEKF3::_tasInnovGate

private

Definition at line 389 of file AP_NavEKF3.h.

Referenced by NavEKF3_core::FuseAirspeed().

◆ _tauVelPosOutput

AP_Int8 NavEKF3::_tauVelPosOutput

private

Definition at line 406 of file AP_NavEKF3.h.

Referenced by NavEKF3_core::calcOutputStates().

◆ _terrGradMax

AP_Float NavEKF3::_terrGradMax

private

Definition at line 408 of file AP_NavEKF3.h.

Referenced by NavEKF3_core::selectHeightForFusion().

◆ _useRngSwHgt

AP_Int8 NavEKF3::_useRngSwHgt

private

Definition at line 407 of file AP_NavEKF3.h.

Referenced by NavEKF3_core::selectHeightForFusion(), and NavEKF3_core::send_status_report().

◆ _useRngSwSpd

AP_Float NavEKF3::_useRngSwSpd

private

Definition at line 412 of file AP_NavEKF3.h.

Referenced by NavEKF3_core::selectHeightForFusion().

◆ _visOdmVelErrMax

AP_Float NavEKF3::_visOdmVelErrMax

private

Definition at line 416 of file AP_NavEKF3.h.

Referenced by NavEKF3_core::writeBodyFrameOdom().

◆ _visOdmVelErrMin

AP_Float NavEKF3::_visOdmVelErrMin

private

Definition at line 417 of file AP_NavEKF3.h.

Referenced by NavEKF3_core::writeBodyFrameOdom().

◆ _wencOdmVelErr

AP_Float NavEKF3::_wencOdmVelErr

private

Definition at line 418 of file AP_NavEKF3.h.

Referenced by NavEKF3_core::SelectBodyOdomFusion().

◆ _windVelProcessNoise

AP_Float NavEKF3::_windVelProcessNoise

private

Definition at line 375 of file AP_NavEKF3.h.

◆ _wndVarHgtRateScale

AP_Float NavEKF3::_wndVarHgtRateScale

private

Definition at line 376 of file AP_NavEKF3.h.

◆ _yawInnovGate

AP_Int16 NavEKF3::_yawInnovGate

private

Definition at line 405 of file AP_NavEKF3.h.

Referenced by NavEKF3_core::fuseEulerYaw().

◆ _yawNoise

AP_Float NavEKF3::_yawNoise

private

Definition at line 404 of file AP_NavEKF3.h.

Referenced by NavEKF3_core::controlMagYawReset(), and NavEKF3_core::fuseEulerYaw().

◆ betaAvg_ms

const uint16_t NavEKF3::betaAvg_ms = 100

private

Definition at line 437 of file AP_NavEKF3.h.

Referenced by NavEKF3_core::SelectBetaFusion().

◆ core

NavEKF3_core* NavEKF3::core = nullptr

private

Definition at line 360 of file AP_NavEKF3.h.

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

◆ core_changed

bool NavEKF3::core_changed

Definition at line 463 of file AP_NavEKF3.h.

◆ core_delta [1/2]

float NavEKF3::core_delta

Definition at line 465 of file AP_NavEKF3.h.

◆ core_delta [2/2]

Vector2f NavEKF3::core_delta

Definition at line 472 of file AP_NavEKF3.h.

◆ coreImuIndex

uint8_t NavEKF3::coreImuIndex[7]

private

Definition at line 484 of file AP_NavEKF3.h.

Referenced by InitialiseFilter().

◆ coreSetupRequired

bool NavEKF3::coreSetupRequired[7]

private

Definition at line 483 of file AP_NavEKF3.h.

Referenced by InitialiseFilter().

◆ covDelAngMax

const float NavEKF3::covDelAngMax = 0.05f

private

Definition at line 439 of file AP_NavEKF3.h.

◆ covTimeStepMax

const float NavEKF3::covTimeStepMax = 0.1f

private

Definition at line 438 of file AP_NavEKF3.h.

◆ DCM33FlowMin

const float NavEKF3::DCM33FlowMin = 0.71f

private

Definition at line 440 of file AP_NavEKF3.h.

Referenced by NavEKF3_core::SelectFlowFusion().

◆ enabled

bool NavEKF3::enabled

Definition at line 451 of file AP_NavEKF3.h.

◆ flowIntervalMax_ms

const uint32_t NavEKF3::flowIntervalMax_ms = 100

private

Definition at line 443 of file AP_NavEKF3.h.

◆ flowTimeDeltaAvg_ms

const uint8_t NavEKF3::flowTimeDeltaAvg_ms = 100

private

Definition at line 442 of file AP_NavEKF3.h.

Referenced by NavEKF3_core::writeOptFlowMeas().

◆ fScaleFactorPnoise

const float NavEKF3::fScaleFactorPnoise = 1e-10f

private

Definition at line 441 of file AP_NavEKF3.h.

◆ fusionTimeStep_ms

const uint16_t NavEKF3::fusionTimeStep_ms = 10

private

Definition at line 447 of file AP_NavEKF3.h.

◆ gndEffectBaroScaler

const float NavEKF3::gndEffectBaroScaler = 4.0f

private

Definition at line 445 of file AP_NavEKF3.h.

Referenced by NavEKF3_core::selectHeightForFusion().

◆ gndEffectTimeout_ms

const uint16_t NavEKF3::gndEffectTimeout_ms = 1000

private

Definition at line 444 of file AP_NavEKF3.h.

Referenced by NavEKF3_core::getTakeoffExpected(), and NavEKF3_core::getTouchdownExpected().

◆ gndGradientSigma

const uint8_t NavEKF3::gndGradientSigma = 50

private

Definition at line 446 of file AP_NavEKF3.h.

Referenced by NavEKF3_core::EstimateTerrainOffset().

◆ gpsDVelVarAccScale

const float NavEKF3::gpsDVelVarAccScale = 0.07f

private

Definition at line 423 of file AP_NavEKF3.h.

Referenced by NavEKF3_core::FuseVelPosNED().

◆ gpsNEVelVarAccScale

const float NavEKF3::gpsNEVelVarAccScale = 0.05f

private

Definition at line 422 of file AP_NavEKF3.h.

Referenced by NavEKF3_core::FuseVelPosNED().

◆ gpsPosVarAccScale

const float NavEKF3::gpsPosVarAccScale = 0.05f

private

Definition at line 424 of file AP_NavEKF3.h.

Referenced by NavEKF3_core::FuseVelPosNED().

◆ gyroBiasNoiseScaler

const float NavEKF3::gyroBiasNoiseScaler = 2.0f

private

Definition at line 435 of file AP_NavEKF3.h.

◆ hgtAvg_ms

const uint16_t NavEKF3::hgtAvg_ms = 100

private

Definition at line 436 of file AP_NavEKF3.h.

Referenced by NavEKF3_core::selectHeightForFusion().

◆ hgtRetryTimeMode0_ms

const uint16_t NavEKF3::hgtRetryTimeMode0_ms = 10000

private

Definition at line 430 of file AP_NavEKF3.h.

Referenced by NavEKF3_core::selectHeightForFusion().

◆ hgtRetryTimeMode12_ms

const uint16_t NavEKF3::hgtRetryTimeMode12_ms = 5000

private

Definition at line 431 of file AP_NavEKF3.h.

Referenced by NavEKF3_core::selectHeightForFusion().

◆ imuSampleTime_us

uint64_t NavEKF3::imuSampleTime_us

private

Definition at line 459 of file AP_NavEKF3.h.

Referenced by check_log_write(), getLastPosDownReset(), getLastPosNorthEastReset(), getLastYawResetAngle(), InitialiseFilter(), NavEKF3_core::InitialiseVariables(), NavEKF3_core::readIMUData(), UpdateFilter(), updateLaneSwitchPosDownResetData(), updateLaneSwitchPosResetData(), and updateLaneSwitchYawResetData().

◆ inhibitGpsVertVelUse

bool NavEKF3::inhibitGpsVertVelUse

private

Definition at line 486 of file AP_NavEKF3.h.

Referenced by NavEKF3_core::FuseVelPosNED(), NavEKF3_core::readGpsData(), NavEKF3_core::ResetHeight(), and setInhibitGpsVertVelUse().

◆ last_function_call

uint32_t NavEKF3::last_function_call

Definition at line 462 of file AP_NavEKF3.h.

◆ last_primary_change

uint32_t NavEKF3::last_primary_change

Definition at line 464 of file AP_NavEKF3.h.

◆ log_baro

bool NavEKF3::log_baro

Definition at line 454 of file AP_NavEKF3.h.

Referenced by NavEKF3_core::readBaroData().

◆ log_compass

bool NavEKF3::log_compass

Definition at line 452 of file AP_NavEKF3.h.

Referenced by NavEKF3_core::readMagData().

◆ log_gps

bool NavEKF3::log_gps

Definition at line 453 of file AP_NavEKF3.h.

Referenced by NavEKF3_core::readGpsData().

◆ log_imu

bool NavEKF3::log_imu

Definition at line 455 of file AP_NavEKF3.h.

Referenced by NavEKF3_core::readDeltaAngle().

◆ logging

struct { ... } NavEKF3::logging

Referenced by check_log_write(), have_ekf_logging(), InitialiseFilter(), NavEKF3_core::readBaroData(), NavEKF3_core::readDeltaAngle(), NavEKF3_core::readGpsData(), and NavEKF3_core::readMagData().

◆ magDelay_ms

const uint16_t NavEKF3::magDelay_ms = 60

private

Definition at line 425 of file AP_NavEKF3.h.

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

◆ magFailTimeLimit_ms

const uint32_t NavEKF3::magFailTimeLimit_ms = 10000

private

Definition at line 433 of file AP_NavEKF3.h.

Referenced by NavEKF3_core::SelectMagFusion().

◆ magVarRateScale

const float NavEKF3::magVarRateScale = 0.005f

private

Definition at line 434 of file AP_NavEKF3.h.

Referenced by NavEKF3_core::FuseMagnetometer().

◆ num_cores

uint8_t NavEKF3::num_cores

private

◆ pos_down_reset_data

struct { ... } NavEKF3::pos_down_reset_data

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

◆ pos_reset_data

struct { ... } NavEKF3::pos_reset_data

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

◆ posRetryTimeNoVel_ms

const uint16_t NavEKF3::posRetryTimeNoVel_ms = 7000

private

Definition at line 429 of file AP_NavEKF3.h.

Referenced by NavEKF3_core::SelectBetaFusion(), and NavEKF3_core::setAidingMode().

◆ posRetryTimeUseVel_ms

const uint16_t NavEKF3::posRetryTimeUseVel_ms = 10000

private

Definition at line 428 of file AP_NavEKF3.h.

Referenced by NavEKF3_core::setAidingMode().

◆ primary

uint8_t NavEKF3::primary

private

Definition at line 359 of file AP_NavEKF3.h.

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

◆ runCoreSelection

bool NavEKF3::runCoreSelection

private

Definition at line 482 of file AP_NavEKF3.h.

Referenced by UpdateFilter().

◆ sensorIntervalMin_ms

const uint8_t NavEKF3::sensorIntervalMin_ms = 50

private

Definition at line 448 of file AP_NavEKF3.h.

Referenced by NavEKF3_core::readAirSpdData(), NavEKF3_core::readBaroData(), NavEKF3_core::readGpsData(), NavEKF3_core::readMagData(), NavEKF3_core::readRangeFinder(), NavEKF3_core::setup_core(), NavEKF3_core::writeBodyFrameOdom(), NavEKF3_core::writeOptFlowMeas(), and NavEKF3_core::writeWheelOdom().

◆ tasDelay_ms

const uint16_t NavEKF3::tasDelay_ms = 100

private

Definition at line 426 of file AP_NavEKF3.h.

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

◆ tasRetryTime_ms

const uint16_t NavEKF3::tasRetryTime_ms = 5000

private

Definition at line 432 of file AP_NavEKF3.h.

Referenced by NavEKF3_core::FuseAirspeed(), and NavEKF3_core::SelectTasFusion().

◆ tiltDriftTimeMax_ms

const uint16_t NavEKF3::tiltDriftTimeMax_ms = 15000

private

Definition at line 427 of file AP_NavEKF3.h.

Referenced by NavEKF3_core::setAidingMode().

◆ var_info

const AP_Param::GroupInfo NavEKF3::var_info

static

Definition at line 44 of file AP_NavEKF3.h.

Referenced by NavEKF3().

◆ yaw_reset_data

struct { ... } NavEKF3::yaw_reset_data

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

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

libraries/AP_NavEKF3/AP_NavEKF3.h
libraries/AP_NavEKF3/AP_NavEKF3.cpp

Public Member Functions

Static Public Attributes

Private Member Functions

Private Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

◆ NavEKF3() [1/2]

◆ NavEKF3() [2/2]

Member Function Documentation

◆ activeCores()

◆ check_log_write()

◆ getAccelBias()

◆ getAccelNED()

◆ getActiveMag()

◆ getBodyFrameOdomDebug()

◆ getEkfControlLimits()

◆ getEulerAngles()

◆ getFilterFaults()

◆ getFilterGpsStatus()

◆ getFilterStatus()

◆ getFilterTimeouts()

◆ getFlowDebug()

◆ getGyroBias()

◆ getHAGL()

◆ getHeightControlLimit()

◆ getInnovations()

◆ getLastPosDownReset()

◆ getLastPosNorthEastReset()

◆ getLastVelNorthEastReset()

◆ getLastYawResetAngle()

◆ getLLH()

◆ getMagNED()

◆ getMagOffsets()

◆ getMagXYZ()

◆ getOriginLLH()

◆ getOutputTrackingError()

◆ getPosD()

◆ getPosDownDerivative()

◆ getPosNE()

◆ getPrimaryCoreIMUIndex()

◆ getPrimaryCoreIndex()

◆ getQuaternion()

◆ getRangeBeaconDebug()

◆ getRotationBodyToNED()

◆ getStateVariances()

◆ getTiltError()

◆ getTimingStatistics()

◆ getVariances()

◆ getVelNED()

◆ getWind()

◆ have_ekf_logging()

◆ healthy()

◆ InitialiseFilter()

◆ operator=()

◆ prearm_failure_reason()

◆ resetGyroBias()

◆ resetHeightDatum()

◆ send_status_report()

◆ set_baro_alt_noise()

◆ set_enable()

◆ setInhibitGPS()

◆ setInhibitGpsVertVelUse()

◆ setOriginLLH()

◆ setTakeoffExpected()

◆ setTerrainHgtStable()

◆ setTouchdownExpected()

◆ UpdateFilter()

◆ updateLaneSwitchPosDownResetData()

◆ updateLaneSwitchPosResetData()

◆ updateLaneSwitchYawResetData()

◆ use_compass()

◆ writeBodyFrameOdom()

◆ writeOptFlowMeas()

◆ writeWheelOdom()

Friends And Related Function Documentation

◆ NavEKF3_core

Member Data Documentation

◆ _accBiasLim

◆ _accelBiasProcessNoise