#include <AP_NavEKF3_core.h>

Collaboration diagram for NavEKF3_core:

Classes
struct	baro_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

struct	vel_odm_elements

struct	wheel_odm_elements

Public Member Functions
	NavEKF3_core (void)

bool	setup_core (NavEKF3 *_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	getAccelBias (Vector3f &accelBias) const

void	getTiltError (float &ang) const

void	resetGyroBias (void)

bool	resetHeightDatum (void)

uint8_t	setInhibitGPS (void)

void	getEkfControlLimits (float &ekfGndSpdLimit, float &ekfNavVelGainScaler) 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

void	getStateVariances (float stateVar[24])

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

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 (Vector3f &velInnov, Vector3f &velInnovVar)

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

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)

Private Types
enum	resetDataSource { DEFAULT =0, GPS =1, RNGBCN =2, FLOW =3, BARO =4, MAG =5, RNGFND =6 }

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	Vector21[21]

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	ConstrainVariances ()

void	ConstrainStates ()

void	FuseVelPosNED ()

void	FuseBodyVel ()

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)

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

void	checkDivergence (void)

void	calcIMU_Weighting (float K1, float K2)

bool	readyToUseOptFlow (void) const

bool	readyToUseBodyOdm (void) const

bool	useRngFinder (void) const

void	SelectFlowFusion ()

void	SelectBodyOdomFusion ()

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)

void	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

Vector3f	calcRotVecVariances (void)

void	initialiseQuatCovariances (Vector3f &rotVarVec)

void	updateTimingStatistics (void)

void	updateStateIndexLim (void)

bool	assume_zero_sideslip (void) const

float	InitialGyroBiasUncertainty (void) const

Private Attributes
NavEKF3 *	frontend

uint8_t	imu_index

uint8_t	core_index

uint8_t	imu_buffer_length

uint8_t	obs_buffer_length

const AP_AHRS *	_ahrs

Vector24	statesArray

struct NavEKF3_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

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	lastSynthYawTime_ms

uint32_t	ekfStartTime_ms

Matrix24	nextP

Vector2f	lastKnownPositionNE

uint32_t	lastDecayTime_ms

float	velTestRatio

float	posTestRatio

float	hgtTestRatio

Vector3f	magTestRatio

float	tasTestRatio

bool	inhibitWindStates

bool	inhibitMagStates

bool	inhibitDelVelBiasStates

bool	inhibitDelAngBiasStates

bool	gpsNotAvailable

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

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	last_gps_idx

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

uint32_t	firstInitTime_ms

uint32_t	lastInitFailReport_ms

resetDataSource	posResetSource

resetDataSource	velResetSource

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

bool	flowFusionActive

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< vel_odm_elements >	storedBodyOdm

vel_odm_elements	bodyOdmDataNew

vel_odm_elements	bodyOdmDataDelayed

uint32_t	lastbodyVelPassTime_ms

Vector3	bodyVelTestRatio

Vector3	varInnovBodyVel

Vector3	innovBodyVel

uint32_t	prevBodyVelFuseTime_ms

uint32_t	bodyOdmMeasTime_ms

bool	bodyVelFusionDelayed

bool	bodyVelFusionActive

uint32_t	wheelOdmMeasTime_ms

bool	usingWheelSensors

obs_ring_buffer_t< wheel_odm_elements >	storedWheelOdm

wheel_odm_elements	wheelOdmDataNew

wheel_odm_elements	wheelOdmDataDelayed

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

bool	usingMinHypothesis

float	bcnPosDownOffsetMax

float	bcnPosOffsetMaxVar

float	maxOffsetStateChangeFilt

float	bcnPosDownOffsetMin

float	bcnPosOffsetMinVar

float	minOffsetStateChangeFilt

Vector3f	bcnPosOffsetNED

bool	bcnOriginEstInit

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

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

bool bad_xvel:1

bool bad_yvel:1

bool bad_zvel: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_FuseBodyOdom

AP_HAL::Util::perf_counter_t	_perf_test [10]

struct ekf_timing	timing

Detailed Description

Definition at line 69 of file AP_NavEKF3_core.h.

Member Typedef Documentation

◆ ftype

typedef float NavEKF3_core::ftype

private

Definition at line 365 of file AP_NavEKF3_core.h.

◆ Matrix24

typedef ftype NavEKF3_core::Matrix24[24][24]

private

Definition at line 412 of file AP_NavEKF3_core.h.

◆ Matrix3

typedef ftype NavEKF3_core::Matrix3[3][3]

private

Definition at line 411 of file AP_NavEKF3_core.h.

◆ Matrix34_50

typedef ftype NavEKF3_core::Matrix34_50[34][50]

private

Definition at line 413 of file AP_NavEKF3_core.h.

◆ Vector10

typedef ftype NavEKF3_core::Vector10[10]

private

Definition at line 400 of file AP_NavEKF3_core.h.

◆ Vector11

typedef ftype NavEKF3_core::Vector11[11]

private

Definition at line 401 of file AP_NavEKF3_core.h.

◆ Vector13

typedef ftype NavEKF3_core::Vector13[13]

private

Definition at line 402 of file AP_NavEKF3_core.h.

◆ Vector14

typedef ftype NavEKF3_core::Vector14[14]

private

Definition at line 403 of file AP_NavEKF3_core.h.

◆ Vector15

typedef ftype NavEKF3_core::Vector15[15]

private

Definition at line 404 of file AP_NavEKF3_core.h.

◆ Vector2

typedef ftype NavEKF3_core::Vector2[2]

private

Definition at line 392 of file AP_NavEKF3_core.h.

◆ Vector21

typedef ftype NavEKF3_core::Vector21[21]

private

Definition at line 405 of file AP_NavEKF3_core.h.

◆ Vector22

typedef ftype NavEKF3_core::Vector22[22]

private

Definition at line 406 of file AP_NavEKF3_core.h.

◆ Vector23

typedef ftype NavEKF3_core::Vector23[23]

private

Definition at line 407 of file AP_NavEKF3_core.h.

◆ Vector24

typedef ftype NavEKF3_core::Vector24[24]

private

Definition at line 408 of file AP_NavEKF3_core.h.

◆ Vector25

typedef ftype NavEKF3_core::Vector25[25]

private

Definition at line 409 of file AP_NavEKF3_core.h.

◆ Vector28

typedef ftype NavEKF3_core::Vector28[28]

private

Definition at line 410 of file AP_NavEKF3_core.h.

◆ Vector3

typedef ftype NavEKF3_core::Vector3[3]

private

Definition at line 393 of file AP_NavEKF3_core.h.

◆ Vector4

typedef ftype NavEKF3_core::Vector4[4]

private

Definition at line 394 of file AP_NavEKF3_core.h.

◆ Vector5

typedef ftype NavEKF3_core::Vector5[5]

private

Definition at line 395 of file AP_NavEKF3_core.h.

◆ Vector6

typedef ftype NavEKF3_core::Vector6[6]

private

Definition at line 396 of file AP_NavEKF3_core.h.

◆ Vector7

typedef ftype NavEKF3_core::Vector7[7]

private

Definition at line 397 of file AP_NavEKF3_core.h.

◆ Vector8

typedef ftype NavEKF3_core::Vector8[8]

private

Definition at line 398 of file AP_NavEKF3_core.h.

◆ Vector9

typedef ftype NavEKF3_core::Vector9[9]

private

Definition at line 399 of file AP_NavEKF3_core.h.

◆ Vector_u32_50

typedef uint32_t NavEKF3_core::Vector_u32_50[50]

private

Definition at line 414 of file AP_NavEKF3_core.h.

Member Enumeration Documentation

◆ AidingMode

enum NavEKF3_core::AidingMode

private

Enumerator
AID_ABSOLUTE
AID_NONE
AID_RELATIVE

Definition at line 1044 of file AP_NavEKF3_core.h.

◆ resetDataSource

enum NavEKF3_core::resetDataSource

private

Enumerator
DEFAULT
GPS
RNGBCN
FLOW
BARO
MAG
RNGFND

Definition at line 971 of file AP_NavEKF3_core.h.

Constructor & Destructor Documentation

◆ NavEKF3_core()

NavEKF3_core::NavEKF3_core ( void )

Definition at line 14 of file AP_NavEKF3_core.cpp.

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Member Function Documentation

◆ alignMagStateDeclination()

void NavEKF3_core::alignMagStateDeclination ( )

private

Definition at line 1152 of file AP_NavEKF3_MagFusion.cpp.

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

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◆ assume_zero_sideslip()

bool NavEKF3_core::assume_zero_sideslip ( void ) const

private

Definition at line 462 of file AP_NavEKF3_Control.cpp.

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

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◆ calcEarthRateNED()

void NavEKF3_core::calcEarthRateNED	(	Vector3f &	omega,
		int32_t	latitude
	)		const

private

Definition at line 1515 of file AP_NavEKF3_core.cpp.

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

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◆ calcFiltBaroOffset()

void NavEKF3_core::calcFiltBaroOffset ( )

private

Definition at line 638 of file AP_NavEKF3_Measurements.cpp.

Referenced by selectHeightForFusion().

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◆ calcGpsGoodForFlight()

void NavEKF3_core::calcGpsGoodForFlight ( void )

private

Definition at line 239 of file AP_NavEKF3_VehicleStatus.cpp.

Referenced by readGpsData().

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◆ calcGpsGoodToAlign()

bool NavEKF3_core::calcGpsGoodToAlign ( void )

private

Definition at line 21 of file AP_NavEKF3_VehicleStatus.cpp.

Referenced by readGpsData().

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◆ calcIMU_Weighting()

void NavEKF3_core::calcIMU_Weighting	(	float	K1,
		float	K2
	)

private

◆ calcOutputStates()

void NavEKF3_core::calcOutputStates ( )

private

Definition at line 691 of file AP_NavEKF3_core.cpp.

Referenced by UpdateFilter().

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◆ calcQuatAndFieldStates()

Quaternion NavEKF3_core::calcQuatAndFieldStates	(	float	roll,
		float	pitch
	)

private

Definition at line 1525 of file AP_NavEKF3_core.cpp.

Referenced by controlMagYawReset().

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◆ CalcRangeBeaconPosDownOffset()

void NavEKF3_core::CalcRangeBeaconPosDownOffset	(	float	obsVar,
		Vector3f &	vehiclePosNED,
		bool	aligning
	)

private

Definition at line 520 of file AP_NavEKF3_RngBcnFusion.cpp.

Referenced by FuseRngBcn(), and FuseRngBcnStatic().

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◆ calcRotVecVariances()

Vector3f NavEKF3_core::calcRotVecVariances ( void )

private

Definition at line 1619 of file AP_NavEKF3_core.cpp.

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

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◆ checkAttitudeAlignmentStatus()

void NavEKF3_core::checkAttitudeAlignmentStatus ( )

private

Definition at line 385 of file AP_NavEKF3_Control.cpp.

Referenced by controlFilterModes().

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◆ checkDivergence()

void NavEKF3_core::checkDivergence ( void )

private

◆ checkGyroCalStatus()

void NavEKF3_core::checkGyroCalStatus ( void )

private

Definition at line 510 of file AP_NavEKF3_Control.cpp.

Referenced by setAidingMode().

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◆ ConstrainStates()

void NavEKF3_core::ConstrainStates ( )

private

Definition at line 1488 of file AP_NavEKF3_core.cpp.

Referenced by UpdateStrapdownEquationsNED().

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◆ ConstrainVariances()

void NavEKF3_core::ConstrainVariances ( )

private

Definition at line 1423 of file AP_NavEKF3_core.cpp.

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

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◆ controlFilterModes()

void NavEKF3_core::controlFilterModes ( )

private

Definition at line 15 of file AP_NavEKF3_Control.cpp.

Referenced by UpdateFilter().

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◆ controlMagYawReset()

void NavEKF3_core::controlMagYawReset ( )

private

Definition at line 18 of file AP_NavEKF3_MagFusion.cpp.

Referenced by SelectMagFusion().

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◆ correctDeltaAngle()

void NavEKF3_core::correctDeltaAngle	(	Vector3f &	delAng,
		float	delAngDT
	)

private

Definition at line 601 of file AP_NavEKF3_core.cpp.

Referenced by calcOutputStates(), and readIMUData().

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◆ correctDeltaVelocity()

void NavEKF3_core::correctDeltaVelocity	(	Vector3f &	delVel,
		float	delVelDT
	)

private

Definition at line 606 of file AP_NavEKF3_core.cpp.

Referenced by calcOutputStates(), and readIMUData().

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◆ correctEkfOriginHeight()

void NavEKF3_core::correctEkfOriginHeight ( )

private

Definition at line 645 of file AP_NavEKF3_Measurements.cpp.

Referenced by selectHeightForFusion().

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◆ CovarianceInit()

void NavEKF3_core::CovarianceInit ( )

private

Definition at line 484 of file AP_NavEKF3_core.cpp.

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

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◆ CovariancePrediction()

void NavEKF3_core::CovariancePrediction ( )

private

Definition at line 835 of file AP_NavEKF3_core.cpp.

Referenced by UpdateFilter().

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◆ detectFlight()

void NavEKF3_core::detectFlight ( )

private

Definition at line 294 of file AP_NavEKF3_VehicleStatus.cpp.

Referenced by controlFilterModes().

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◆ detectOptFlowTakeoff()

void NavEKF3_core::detectOptFlowTakeoff ( void )

private

Definition at line 450 of file AP_NavEKF3_VehicleStatus.cpp.

Referenced by writeOptFlowMeas().

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◆ effective_magCal()

uint8_t NavEKF3_core::effective_magCal ( void ) const

private

Definition at line 44 of file AP_NavEKF3_Control.cpp.

Referenced by setWindMagStateLearningMode().

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◆ errorScore()

float NavEKF3_core::errorScore ( void ) const

Definition at line 42 of file AP_NavEKF3_Outputs.cpp.

Referenced by NavEKF3::UpdateFilter().

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◆ EstimateTerrainOffset()

void NavEKF3_core::EstimateTerrainOffset ( )

private

Definition at line 84 of file AP_NavEKF3_OptFlowFusion.cpp.

Referenced by SelectFlowFusion().

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◆ ForceSymmetry()

void NavEKF3_core::ForceSymmetry ( )

private

Definition at line 1408 of file AP_NavEKF3_core.cpp.

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

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◆ FuseAirspeed()

void NavEKF3_core::FuseAirspeed ( )

private

Definition at line 25 of file AP_NavEKF3_AirDataFusion.cpp.

Referenced by SelectTasFusion().

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◆ FuseBodyVel()

void NavEKF3_core::FuseBodyVel ( )

private

Definition at line 921 of file AP_NavEKF3_PosVelFusion.cpp.

Referenced by SelectBodyOdomFusion().

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◆ FuseDeclination()

void NavEKF3_core::FuseDeclination ( float declErr )

private

Definition at line 977 of file AP_NavEKF3_MagFusion.cpp.

Referenced by alignMagStateDeclination(), and SelectMagFusion().

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◆ fuseEulerYaw()

void NavEKF3_core::fuseEulerYaw ( )

private

Definition at line 752 of file AP_NavEKF3_MagFusion.cpp.

Referenced by SelectMagFusion().

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◆ FuseMagnetometer()

void NavEKF3_core::FuseMagnetometer ( )

private

Definition at line 315 of file AP_NavEKF3_MagFusion.cpp.

Referenced by SelectMagFusion().

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◆ FuseOptFlow()

void NavEKF3_core::FuseOptFlow ( )

private

Definition at line 266 of file AP_NavEKF3_OptFlowFusion.cpp.

Referenced by SelectFlowFusion().

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◆ FuseRngBcn()

void NavEKF3_core::FuseRngBcn ( )

private

Definition at line 51 of file AP_NavEKF3_RngBcnFusion.cpp.

Referenced by SelectRngBcnFusion().

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◆ FuseRngBcnStatic()

void NavEKF3_core::FuseRngBcnStatic ( )

private

Definition at line 285 of file AP_NavEKF3_RngBcnFusion.cpp.

Referenced by SelectRngBcnFusion().

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◆ FuseSideslip()

void NavEKF3_core::FuseSideslip ( )

private

Definition at line 261 of file AP_NavEKF3_AirDataFusion.cpp.

Referenced by SelectBetaFusion().

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◆ FuseVelPosNED()

void NavEKF3_core::FuseVelPosNED ( )

private

Definition at line 358 of file AP_NavEKF3_PosVelFusion.cpp.

Referenced by SelectVelPosFusion().

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◆ getAccelBias()

void NavEKF3_core::getAccelBias ( Vector3f & accelBias ) const

Definition at line 146 of file AP_NavEKF3_Outputs.cpp.

Referenced by NavEKF3::getAccelBias().

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◆ getAccelNED()

void NavEKF3_core::getAccelNED ( Vector3f & accelNED ) const

Definition at line 232 of file AP_NavEKF3_Outputs.cpp.

Referenced by NavEKF3::getAccelNED().

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◆ getActiveMag()

uint8_t NavEKF3_core::getActiveMag ( ) const

Definition at line 430 of file AP_NavEKF3_Outputs.cpp.

Referenced by NavEKF3::getActiveMag().

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◆ getBodyFrameOdomDebug()

uint32_t NavEKF3_core::getBodyFrameOdomDebug	(	Vector3f &	velInnov,
		Vector3f &	velInnovVar
	)

Definition at line 69 of file AP_NavEKF3_Outputs.cpp.

Referenced by NavEKF3::getBodyFrameOdomDebug().

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◆ getEkfControlLimits()

void NavEKF3_core::getEkfControlLimits	(	float &	ekfGndSpdLimit,
		float &	ekfNavVelGainScaler
	)		const

Definition at line 360 of file AP_NavEKF3_Outputs.cpp.

Referenced by NavEKF3::getEkfControlLimits().

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◆ getEulerAngles()

void NavEKF3_core::getEulerAngles ( Vector3f & eulers ) const

Definition at line 129 of file AP_NavEKF3_Outputs.cpp.

Referenced by NavEKF3::getEulerAngles(), and NavEKF3::updateLaneSwitchYawResetData().

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◆ getFilterFaults()

void NavEKF3_core::getFilterFaults ( uint16_t & faults ) const

Definition at line 486 of file AP_NavEKF3_Outputs.cpp.

Referenced by NavEKF3::getFilterFaults(), and healthy().

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◆ getFilterGpsStatus()

void NavEKF3_core::getFilterGpsStatus ( nav_gps_status & status ) const

Definition at line 527 of file AP_NavEKF3_Outputs.cpp.

Referenced by NavEKF3::getFilterGpsStatus().

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◆ getFilterStatus()

void NavEKF3_core::getFilterStatus ( nav_filter_status & status ) const

Definition at line 519 of file AP_NavEKF3_Outputs.cpp.

Referenced by NavEKF3::getFilterStatus().

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◆ getFilterTimeouts()

void NavEKF3_core::getFilterTimeouts ( uint8_t & timeouts ) const

Definition at line 509 of file AP_NavEKF3_Outputs.cpp.

Referenced by NavEKF3::getFilterTimeouts().

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◆ getFlowDebug()

void NavEKF3_core::getFlowDebug	(	float &	varFlow,
		float &	gndOffset,
		float &	flowInnovX,
		float &	flowInnovY,
		float &	auxInnov,
		float &	HAGL,
		float &	rngInnov,
		float &	range,
		float &	gndOffsetErr
	)		const

Definition at line 55 of file AP_NavEKF3_Outputs.cpp.

Referenced by NavEKF3::getFlowDebug().

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◆ getFramesSincePredict()

uint8_t NavEKF3_core::getFramesSincePredict ( void ) const

Definition at line 618 of file AP_NavEKF3_Outputs.cpp.

◆ getGyroBias()

void NavEKF3_core::getGyroBias ( Vector3f & gyroBias ) const

Definition at line 136 of file AP_NavEKF3_Outputs.cpp.

Referenced by detectOptFlowTakeoff(), and NavEKF3::getGyroBias().

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◆ getHAGL()

bool NavEKF3_core::getHAGL ( float & HAGL ) const

Definition at line 302 of file AP_NavEKF3_Outputs.cpp.

Referenced by NavEKF3::getHAGL().

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◆ getHeightControlLimit()

bool NavEKF3_core::getHeightControlLimit ( float & height ) const

Definition at line 111 of file AP_NavEKF3_Outputs.cpp.

Referenced by NavEKF3::getHeightControlLimit().

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◆ getIMUIndex()

uint8_t NavEKF3_core::getIMUIndex ( void ) const

inline

Definition at line 352 of file AP_NavEKF3_core.h.

Referenced by NavEKF3::getPrimaryCoreIMUIndex().

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◆ getInnovations()

void NavEKF3_core::getInnovations	(	Vector3f &	velInnov,
		Vector3f &	posInnov,
		Vector3f &	magInnov,
		float &	tasInnov,
		float &	yawInnov
	)		const

Definition at line 436 of file AP_NavEKF3_Outputs.cpp.

Referenced by NavEKF3::getInnovations().

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◆ getLastPosDownReset()

uint32_t NavEKF3_core::getLastPosDownReset ( float & posD ) const

Definition at line 192 of file AP_NavEKF3_Outputs.cpp.

Referenced by NavEKF3::getLastPosDownReset().

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◆ getLastPosNorthEastReset()

uint32_t NavEKF3_core::getLastPosNorthEastReset ( Vector2f & pos ) const

Definition at line 184 of file AP_NavEKF3_Outputs.cpp.

Referenced by NavEKF3::getLastPosNorthEastReset().

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◆ getLastVelNorthEastReset()

uint32_t NavEKF3_core::getLastVelNorthEastReset ( Vector2f & vel ) const

Definition at line 200 of file AP_NavEKF3_Outputs.cpp.

Referenced by NavEKF3::getLastVelNorthEastReset().

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◆ getLastYawResetAngle()

uint32_t NavEKF3_core::getLastYawResetAngle ( float & yawAng ) const

Definition at line 176 of file AP_NavEKF3_Outputs.cpp.

Referenced by NavEKF3::getLastYawResetAngle().

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◆ getLLH()

bool NavEKF3_core::getLLH ( struct Location & loc ) const

Definition at line 313 of file AP_NavEKF3_Outputs.cpp.

Referenced by NavEKF3::getLLH().

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◆ getMagNED()

void NavEKF3_core::getMagNED ( Vector3f & magNED ) const

Definition at line 394 of file AP_NavEKF3_Outputs.cpp.

Referenced by NavEKF3::getMagNED().

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◆ getMagOffsets()

bool NavEKF3_core::getMagOffsets	(	uint8_t	mag_idx,
		Vector3f &	magOffsets
	)		const

Definition at line 407 of file AP_NavEKF3_Outputs.cpp.

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◆ getMagXYZ()

void NavEKF3_core::getMagXYZ ( Vector3f & magXYZ ) const

Definition at line 400 of file AP_NavEKF3_Outputs.cpp.

Referenced by NavEKF3::getMagXYZ().

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◆ getOriginLLH()

bool NavEKF3_core::getOriginLLH ( struct Location & loc ) const

Definition at line 381 of file AP_NavEKF3_Outputs.cpp.

Referenced by NavEKF3::getOriginLLH().

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◆ getOutputTrackingError()

void NavEKF3_core::getOutputTrackingError ( Vector3f & error ) const

Definition at line 624 of file AP_NavEKF3_Outputs.cpp.

Referenced by NavEKF3::getOutputTrackingError().

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◆ getPosD()

bool NavEKF3_core::getPosD ( float & posD ) const

Definition at line 282 of file AP_NavEKF3_Outputs.cpp.

Referenced by NavEKF3::getPosD(), and NavEKF3::updateLaneSwitchPosDownResetData().

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◆ getPosDownDerivative()

float NavEKF3_core::getPosDownDerivative ( void ) const

Definition at line 224 of file AP_NavEKF3_Outputs.cpp.

Referenced by NavEKF3::getPosDownDerivative().

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◆ getPosNE()

bool NavEKF3_core::getPosNE ( Vector2f & posNE ) const

Definition at line 239 of file AP_NavEKF3_Outputs.cpp.

Referenced by NavEKF3::getPosNE(), and NavEKF3::updateLaneSwitchPosResetData().

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◆ getQuaternion()

void NavEKF3_core::getQuaternion ( Quaternion & quat ) const

Definition at line 169 of file AP_NavEKF3_Outputs.cpp.

Referenced by NavEKF3::getQuaternion().

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◆ getRangeBeaconDebug()

bool NavEKF3_core::getRangeBeaconDebug	(	uint8_t &	ID,
		float &	rng,
		float &	innov,
		float &	innovVar,
		float &	testRatio,
		Vector3f &	beaconPosNED,
		float &	offsetHigh,
		float &	offsetLow,
		Vector3f &	posNED
	)

Definition at line 81 of file AP_NavEKF3_Outputs.cpp.

Referenced by NavEKF3::getRangeBeaconDebug().

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◆ getRotationBodyToNED()

void NavEKF3_core::getRotationBodyToNED ( Matrix3f & mat ) const

Definition at line 162 of file AP_NavEKF3_Outputs.cpp.

Referenced by NavEKF3::getRotationBodyToNED().

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◆ getStateVariances()

void NavEKF3_core::getStateVariances ( float stateVar[24] )

Definition at line 468 of file AP_NavEKF3_Outputs.cpp.

Referenced by NavEKF3::getStateVariances().

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◆ getTakeoffExpected()

bool NavEKF3_core::getTakeoffExpected ( )

private

Definition at line 404 of file AP_NavEKF3_VehicleStatus.cpp.

Referenced by readBaroData(), and selectHeightForFusion().

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◆ getTiltError()

void NavEKF3_core::getTiltError ( float & ang ) const

Definition at line 156 of file AP_NavEKF3_Outputs.cpp.

Referenced by NavEKF3::getTiltError().

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◆ getTimingStatistics()

void NavEKF3_core::getTimingStatistics ( struct ekf_timing & timing )

Definition at line 853 of file AP_NavEKF3_Measurements.cpp.

Referenced by getIMUIndex(), and NavEKF3::getTimingStatistics().

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◆ getTouchdownExpected()

bool NavEKF3_core::getTouchdownExpected ( )

private

Definition at line 423 of file AP_NavEKF3_VehicleStatus.cpp.

Referenced by FuseVelPosNED(), and selectHeightForFusion().

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◆ getVariances()

void NavEKF3_core::getVariances	(	float &	velVar,
		float &	posVar,
		float &	hgtVar,
		Vector3f &	magVar,
		float &	tasVar,
		Vector2f &	offset
	)		const

Definition at line 454 of file AP_NavEKF3_Outputs.cpp.

Referenced by NavEKF3::getVariances(), and send_status_report().

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◆ getVelNED()

void NavEKF3_core::getVelNED ( Vector3f & vel ) const

Definition at line 217 of file AP_NavEKF3_Outputs.cpp.

Referenced by NavEKF3::getVelNED().

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◆ getWind()

void NavEKF3_core::getWind ( Vector3f & wind ) const

Definition at line 207 of file AP_NavEKF3_Outputs.cpp.

Referenced by NavEKF3::getWind().

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◆ healthy()

bool NavEKF3_core::healthy ( void ) const

Definition at line 14 of file AP_NavEKF3_Outputs.cpp.

Referenced by getHAGL(), NavEKF3::healthy(), NavEKF3::UpdateFilter(), and updateFilterStatus().

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◆ InitialGyroBiasUncertainty()

float NavEKF3_core::InitialGyroBiasUncertainty ( void ) const

private

Definition at line 29 of file AP_NavEKF3_GyroBias.cpp.

Referenced by CovarianceInit(), and setWindMagStateLearningMode().

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◆ InitialiseFilterBootstrap()

bool NavEKF3_core::InitialiseFilterBootstrap ( void )

Definition at line 397 of file AP_NavEKF3_core.cpp.

Referenced by NavEKF3::InitialiseFilter().

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◆ initialiseQuatCovariances()

void NavEKF3_core::initialiseQuatCovariances ( Vector3f & rotVarVec )

private

Definition at line 1662 of file AP_NavEKF3_core.cpp.

Referenced by controlMagYawReset(), CovarianceInit(), and realignYawGPS().

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◆ InitialiseVariables()

void NavEKF3_core::InitialiseVariables ( )

private

Definition at line 155 of file AP_NavEKF3_core.cpp.

Referenced by InitialiseFilterBootstrap().

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◆ prearm_failure_reason()

const char * NavEKF3_core::prearm_failure_reason ( void ) const

Definition at line 606 of file AP_NavEKF3_Outputs.cpp.

Referenced by NavEKF3::prearm_failure_reason().

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◆ quat2Tbn()

void NavEKF3_core::quat2Tbn	(	Matrix3f &	Tbn,
		const Quaternion &	quat
	)		const

private

Definition at line 1401 of file AP_NavEKF3_core.cpp.

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◆ readAirSpdData()

void NavEKF3_core::readAirSpdData ( )

private

Definition at line 690 of file AP_NavEKF3_Measurements.cpp.

Referenced by SelectTasFusion().

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◆ readBaroData()

void NavEKF3_core::readBaroData ( )

private

Definition at line 602 of file AP_NavEKF3_Measurements.cpp.

Referenced by InitialiseFilterBootstrap(), and selectHeightForFusion().

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◆ readDeltaAngle()

bool NavEKF3_core::readDeltaAngle	(	uint8_t	ins_index,
		Vector3f &	dAng
	)

private

Definition at line 585 of file AP_NavEKF3_Measurements.cpp.

Referenced by readIMUData().

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◆ readDeltaVelocity()

bool NavEKF3_core::readDeltaVelocity	(	uint8_t	ins_index,
		Vector3f &	dVel,
		float &	dVel_dt
	)

private

Definition at line 439 of file AP_NavEKF3_Measurements.cpp.

Referenced by readIMUData().

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◆ readGpsData()

void NavEKF3_core::readGpsData ( )

private

Definition at line 455 of file AP_NavEKF3_Measurements.cpp.

Referenced by InitialiseFilterBootstrap(), and SelectVelPosFusion().

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◆ readIMUData()

void NavEKF3_core::readIMUData ( )

private

Definition at line 330 of file AP_NavEKF3_Measurements.cpp.

Referenced by InitialiseFilterBootstrap(), and UpdateFilter().

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◆ readMagData()

void NavEKF3_core::readMagData ( )

private

Definition at line 236 of file AP_NavEKF3_Measurements.cpp.

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

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◆ readRangeFinder()

void NavEKF3_core::readRangeFinder ( void )

private

Definition at line 20 of file AP_NavEKF3_Measurements.cpp.

Referenced by selectHeightForFusion().

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◆ readRngBcnData()

void NavEKF3_core::readRngBcnData ( )

private

Definition at line 718 of file AP_NavEKF3_Measurements.cpp.

Referenced by SelectRngBcnFusion().

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◆ readyToUseBodyOdm()

bool NavEKF3_core::readyToUseBodyOdm ( void ) const

private

Definition at line 425 of file AP_NavEKF3_Control.cpp.

Referenced by setAidingMode().

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◆ readyToUseGPS()

bool NavEKF3_core::readyToUseGPS ( void ) const

private

Definition at line 442 of file AP_NavEKF3_Control.cpp.

Referenced by setAidingMode().

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◆ readyToUseOptFlow()

bool NavEKF3_core::readyToUseOptFlow ( void ) const

private

Definition at line 418 of file AP_NavEKF3_Control.cpp.

Referenced by setAidingMode().

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◆ readyToUseRangeBeacon()

bool NavEKF3_core::readyToUseRangeBeacon ( void ) const

private

Definition at line 448 of file AP_NavEKF3_Control.cpp.

Referenced by setAidingMode().

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◆ realignYawGPS()

void NavEKF3_core::realignYawGPS ( )

private

Definition at line 150 of file AP_NavEKF3_MagFusion.cpp.

Referenced by SelectVelPosFusion().

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◆ RecallBaro()

bool NavEKF3_core::RecallBaro ( )

private

◆ RecallMag()

bool NavEKF3_core::RecallMag ( )

private

◆ RecallOF()

bool NavEKF3_core::RecallOF ( )

private

◆ RecallRange()

bool NavEKF3_core::RecallRange ( )

private

◆ RecallTAS()

bool NavEKF3_core::RecallTAS ( )

private

◆ recordMagReset()

void NavEKF3_core::recordMagReset ( )

private

Definition at line 1185 of file AP_NavEKF3_MagFusion.cpp.

Referenced by calcQuatAndFieldStates().

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◆ recordYawReset()

void NavEKF3_core::recordYawReset ( )

private

Definition at line 501 of file AP_NavEKF3_Control.cpp.

Referenced by controlMagYawReset(), and realignYawGPS().

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◆ resetGyroBias()

void NavEKF3_core::resetGyroBias ( void )

Definition at line 15 of file AP_NavEKF3_GyroBias.cpp.

Referenced by NavEKF3::resetGyroBias().

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◆ ResetHeight()

void NavEKF3_core::ResetHeight ( void )

private

Definition at line 139 of file AP_NavEKF3_PosVelFusion.cpp.

Referenced by FuseVelPosNED(), and InitialiseFilterBootstrap().

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◆ resetHeightDatum()

bool NavEKF3_core::resetHeightDatum ( void )

Definition at line 202 of file AP_NavEKF3_PosVelFusion.cpp.

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◆ ResetPosition()

void NavEKF3_core::ResetPosition ( void )

private

Definition at line 76 of file AP_NavEKF3_PosVelFusion.cpp.

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

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◆ ResetVelocity()

void NavEKF3_core::ResetVelocity ( void )

private

Definition at line 20 of file AP_NavEKF3_PosVelFusion.cpp.

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

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◆ SelectBetaFusion()

void NavEKF3_core::SelectBetaFusion ( )

private

Definition at line 231 of file AP_NavEKF3_AirDataFusion.cpp.

Referenced by UpdateFilter().

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◆ SelectBodyOdomFusion()

void NavEKF3_core::SelectBodyOdomFusion ( )

private

Definition at line 1553 of file AP_NavEKF3_PosVelFusion.cpp.

Referenced by UpdateFilter().

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◆ SelectFlowFusion()

void NavEKF3_core::SelectFlowFusion ( )

private

Definition at line 22 of file AP_NavEKF3_OptFlowFusion.cpp.

Referenced by UpdateFilter().

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◆ selectHeightForFusion()

void NavEKF3_core::selectHeightForFusion ( )

private

Definition at line 746 of file AP_NavEKF3_PosVelFusion.cpp.

Referenced by SelectVelPosFusion().

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◆ SelectMagFusion()

void NavEKF3_core::SelectMagFusion ( )

private

Definition at line 219 of file AP_NavEKF3_MagFusion.cpp.

Referenced by UpdateFilter().

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◆ SelectRngBcnFusion()

void NavEKF3_core::SelectRngBcnFusion ( )

private

Definition at line 18 of file AP_NavEKF3_RngBcnFusion.cpp.

Referenced by UpdateFilter().

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◆ SelectTasFusion()

void NavEKF3_core::SelectTasFusion ( )

private

Definition at line 200 of file AP_NavEKF3_AirDataFusion.cpp.

Referenced by UpdateFilter().

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◆ SelectVelPosFusion()

void NavEKF3_core::SelectVelPosFusion ( )

private

Definition at line 227 of file AP_NavEKF3_PosVelFusion.cpp.

Referenced by UpdateFilter().

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◆ send_status_report()

void NavEKF3_core::send_status_report ( mavlink_channel_t chan )

Definition at line 546 of file AP_NavEKF3_Outputs.cpp.

Referenced by NavEKF3::send_status_report().

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◆ setAidingMode()

void NavEKF3_core::setAidingMode ( )

private

Definition at line 197 of file AP_NavEKF3_Control.cpp.

Referenced by controlFilterModes().

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◆ setInhibitGPS()

uint8_t NavEKF3_core::setInhibitGPS ( void )

Definition at line 523 of file AP_NavEKF3_Control.cpp.

Referenced by NavEKF3::setInhibitGPS().

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◆ setOrigin()

void NavEKF3_core::setOrigin ( )

private

Definition at line 485 of file AP_NavEKF3_Control.cpp.

Referenced by readGpsData().

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◆ setOriginLLH()

bool NavEKF3_core::setOriginLLH ( const Location & loc )

Definition at line 471 of file AP_NavEKF3_Control.cpp.

Referenced by readRngBcnData(), and NavEKF3::setOriginLLH().

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◆ setTakeoffExpected()

void NavEKF3_core::setTakeoffExpected ( bool val )

Definition at line 415 of file AP_NavEKF3_VehicleStatus.cpp.

Referenced by NavEKF3::setTakeoffExpected().

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◆ setTerrainHgtStable()

void NavEKF3_core::setTerrainHgtStable ( bool val )

Definition at line 443 of file AP_NavEKF3_VehicleStatus.cpp.

Referenced by NavEKF3::setTerrainHgtStable().

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◆ setTouchdownExpected()

void NavEKF3_core::setTouchdownExpected ( bool val )

Definition at line 434 of file AP_NavEKF3_VehicleStatus.cpp.

Referenced by NavEKF3::setTouchdownExpected().

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◆ setup_core()

bool NavEKF3_core::setup_core	(	NavEKF3 *	_frontend,
		uint8_t	_imu_index,
		uint8_t	_core_index
	)

Definition at line 42 of file AP_NavEKF3_core.cpp.

Referenced by NavEKF3::InitialiseFilter().

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◆ setWindMagStateLearningMode()

void NavEKF3_core::setWindMagStateLearningMode ( )

private

Definition at line 56 of file AP_NavEKF3_Control.cpp.

Referenced by controlFilterModes().

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◆ StoreBaro()

void NavEKF3_core::StoreBaro ( )

private

◆ StoreMag()

void NavEKF3_core::StoreMag ( )

private

◆ StoreOF()

void NavEKF3_core::StoreOF ( )

private

◆ StoreOutputReset()

void NavEKF3_core::StoreOutputReset ( void )

private

Definition at line 1363 of file AP_NavEKF3_core.cpp.

Referenced by InitialiseFilterBootstrap().

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◆ StoreQuatReset()

void NavEKF3_core::StoreQuatReset ( void )

private

Definition at line 1379 of file AP_NavEKF3_core.cpp.

◆ StoreQuatRotate()

void NavEKF3_core::StoreQuatRotate ( Quaternion deltaQuat )

private

Definition at line 1390 of file AP_NavEKF3_core.cpp.

Referenced by controlMagYawReset().

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◆ StoreRange()

void NavEKF3_core::StoreRange ( )

private

◆ StoreTAS()

void NavEKF3_core::StoreTAS ( )

private

◆ UpdateFilter()

void NavEKF3_core::UpdateFilter ( bool predict )

Definition at line 534 of file AP_NavEKF3_core.cpp.

Referenced by NavEKF3::UpdateFilter().

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◆ updateFilterStatus()

void NavEKF3_core::updateFilterStatus ( void )

private

Definition at line 534 of file AP_NavEKF3_Control.cpp.

Referenced by UpdateFilter().

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◆ updateStateIndexLim()

void NavEKF3_core::updateStateIndexLim ( void )

private

Definition at line 175 of file AP_NavEKF3_Control.cpp.

Referenced by setWindMagStateLearningMode().

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◆ UpdateStrapdownEquationsNED()

void NavEKF3_core::UpdateStrapdownEquationsNED ( )

private

Definition at line 618 of file AP_NavEKF3_core.cpp.

Referenced by UpdateFilter().

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◆ updateTimingStatistics()

void NavEKF3_core::updateTimingStatistics ( void )

private

Definition at line 828 of file AP_NavEKF3_Measurements.cpp.

Referenced by readIMUData().

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◆ use_compass()

bool NavEKF3_core::use_compass ( void ) const

Definition at line 454 of file AP_NavEKF3_Control.cpp.

Referenced by alignMagStateDeclination(), calcGpsGoodToAlign(), calcQuatAndFieldStates(), checkAttitudeAlignmentStatus(), FuseDeclination(), fuseEulerYaw(), readMagData(), realignYawGPS(), SelectBetaFusion(), SelectMagFusion(), setWindMagStateLearningMode(), updateFilterStatus(), and NavEKF3::use_compass().

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◆ useAirspeed()

bool NavEKF3_core::useAirspeed ( void ) const

private

Definition at line 405 of file AP_NavEKF3_Control.cpp.

Referenced by SelectBetaFusion(), and setWindMagStateLearningMode().

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◆ useRngFinder()

bool NavEKF3_core::useRngFinder ( void ) const

private

Definition at line 411 of file AP_NavEKF3_Control.cpp.

◆ writeBodyFrameOdom()

void NavEKF3_core::writeBodyFrameOdom	(	float	quality,
		const Vector3f &	delPos,
		const Vector3f &	delAng,
		float	delTime,
		uint32_t	timeStamp_ms,
		const Vector3f &	posOffset
	)

Definition at line 114 of file AP_NavEKF3_Measurements.cpp.

Referenced by NavEKF3::writeBodyFrameOdom().

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◆ writeOptFlowMeas()

void NavEKF3_core::writeOptFlowMeas	(	uint8_t &	rawFlowQuality,
		Vector2f &	rawFlowRates,
		Vector2f &	rawGyroRates,
		uint32_t &	msecFlowMeas,
		const Vector3f &	posOffset
	)

Definition at line 164 of file AP_NavEKF3_Measurements.cpp.

Referenced by NavEKF3::writeOptFlowMeas().

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◆ writeWheelOdom()

void NavEKF3_core::writeWheelOdom	(	float	delAng,
		float	delTime,
		uint32_t	timeStamp_ms,
		const Vector3f &	posOffset,
		float	radius
	)

Definition at line 136 of file AP_NavEKF3_Measurements.cpp.

Referenced by NavEKF3::writeWheelOdom().

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◆ zeroAttCovOnly()

void NavEKF3_core::zeroAttCovOnly ( )

private

Definition at line 1605 of file AP_NavEKF3_core.cpp.

Referenced by calcQuatAndFieldStates().

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◆ zeroCols()

void NavEKF3_core::zeroCols	(	Matrix24 &	covMat,
		uint8_t	first,
		uint8_t	last
	)

private

Definition at line 1353 of file AP_NavEKF3_core.cpp.

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

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◆ zeroRows()

void NavEKF3_core::zeroRows	(	Matrix24 &	covMat,
		uint8_t	first,
		uint8_t	last
	)

private

Definition at line 1343 of file AP_NavEKF3_core.cpp.

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

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Member Data Documentation

◆ _ahrs

const AP_AHRS* NavEKF3_core::_ahrs

private

◆ _perf_CovariancePrediction

AP_HAL::Util::perf_counter_t NavEKF3_core::_perf_CovariancePrediction

private

Definition at line 1230 of file AP_NavEKF3_core.h.

Referenced by CovariancePrediction().

◆ _perf_FuseAirspeed

AP_HAL::Util::perf_counter_t NavEKF3_core::_perf_FuseAirspeed

private

Definition at line 1233 of file AP_NavEKF3_core.h.

Referenced by FuseAirspeed().

◆ _perf_FuseBodyOdom

AP_HAL::Util::perf_counter_t NavEKF3_core::_perf_FuseBodyOdom

private

Definition at line 1237 of file AP_NavEKF3_core.h.

Referenced by SelectBodyOdomFusion().

◆ _perf_FuseMagnetometer

AP_HAL::Util::perf_counter_t NavEKF3_core::_perf_FuseMagnetometer

private

Definition at line 1232 of file AP_NavEKF3_core.h.

Referenced by SelectMagFusion().

◆ _perf_FuseOptFlow

AP_HAL::Util::perf_counter_t NavEKF3_core::_perf_FuseOptFlow

private

Definition at line 1236 of file AP_NavEKF3_core.h.

Referenced by SelectFlowFusion().

◆ _perf_FuseSideslip

AP_HAL::Util::perf_counter_t NavEKF3_core::_perf_FuseSideslip

private

Definition at line 1234 of file AP_NavEKF3_core.h.

Referenced by FuseSideslip().

◆ _perf_FuseVelPosNED

AP_HAL::Util::perf_counter_t NavEKF3_core::_perf_FuseVelPosNED

private

Definition at line 1231 of file AP_NavEKF3_core.h.

Referenced by FuseVelPosNED().

◆ _perf_TerrainOffset

AP_HAL::Util::perf_counter_t NavEKF3_core::_perf_TerrainOffset

private

Definition at line 1235 of file AP_NavEKF3_core.h.

Referenced by EstimateTerrainOffset().

◆ _perf_test

AP_HAL::Util::perf_counter_t NavEKF3_core::_perf_test[10]

private

Definition at line 1238 of file AP_NavEKF3_core.h.

Referenced by NavEKF3_core(), and SelectMagFusion().

◆ _perf_UpdateFilter

AP_HAL::Util::perf_counter_t NavEKF3_core::_perf_UpdateFilter

private

Definition at line 1229 of file AP_NavEKF3_core.h.

Referenced by UpdateFilter().

◆ accelPosOffset

Vector3f NavEKF3_core::accelPosOffset

private

Definition at line 1056 of file AP_NavEKF3_core.h.

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

◆ accNavMag

ftype NavEKF3_core::accNavMag

private

Definition at line 826 of file AP_NavEKF3_core.h.

Referenced by FuseVelPosNED(), and UpdateStrapdownEquationsNED().

◆ accNavMagHoriz

ftype NavEKF3_core::accNavMagHoriz

private

Definition at line 827 of file AP_NavEKF3_core.h.

Referenced by setWindMagStateLearningMode(), and UpdateStrapdownEquationsNED().

◆ activeHgtSource

uint8_t NavEKF3_core::activeHgtSource

private

Definition at line 1142 of file AP_NavEKF3_core.h.

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

◆ airborneDetectTime_ms

uint32_t NavEKF3_core::airborneDetectTime_ms

private

Definition at line 838 of file AP_NavEKF3_core.h.

Referenced by detectFlight().

◆ airSpdFusionDelayed

bool NavEKF3_core::airSpdFusionDelayed

private

Definition at line 933 of file AP_NavEKF3_core.h.

Referenced by InitialiseVariables(), and SelectTasFusion().

◆ allMagSensorsFailed

bool NavEKF3_core::allMagSensorsFailed

private

Definition at line 867 of file AP_NavEKF3_core.h.

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

◆ auxFlowObsInnov

float NavEKF3_core::auxFlowObsInnov

private

Definition at line 1016 of file AP_NavEKF3_core.h.

Referenced by EstimateTerrainOffset(), and getFlowDebug().

◆ auxFlowObsInnovVar

float NavEKF3_core::auxFlowObsInnovVar

private

Definition at line 1017 of file AP_NavEKF3_core.h.

Referenced by EstimateTerrainOffset().

◆ auxFlowTestRatio

float NavEKF3_core::auxFlowTestRatio

private

Definition at line 1035 of file AP_NavEKF3_core.h.

Referenced by EstimateTerrainOffset().

◆ auxRngTestRatio

float NavEKF3_core::auxRngTestRatio

private

Definition at line 1037 of file AP_NavEKF3_core.h.

Referenced by EstimateTerrainOffset(), and send_status_report().

◆ bad_airspeed

bool NavEKF3_core::bad_airspeed

Definition at line 1171 of file AP_NavEKF3_core.h.

◆ bad_decl

bool NavEKF3_core::bad_decl

Definition at line 1180 of file AP_NavEKF3_core.h.

◆ bad_dpos

bool NavEKF3_core::bad_dpos

Definition at line 1178 of file AP_NavEKF3_core.h.

◆ bad_dvel

bool NavEKF3_core::bad_dvel

Definition at line 1175 of file AP_NavEKF3_core.h.

◆ bad_epos

bool NavEKF3_core::bad_epos

Definition at line 1177 of file AP_NavEKF3_core.h.

◆ bad_evel

bool NavEKF3_core::bad_evel

Definition at line 1174 of file AP_NavEKF3_core.h.

◆ bad_fix

bool NavEKF3_core::bad_fix

Definition at line 1200 of file AP_NavEKF3_core.h.

◆ bad_hAcc

bool NavEKF3_core::bad_hAcc

Definition at line 1192 of file AP_NavEKF3_core.h.

◆ bad_hdop

bool NavEKF3_core::bad_hdop

Definition at line 1198 of file AP_NavEKF3_core.h.

◆ bad_horiz_drift

bool NavEKF3_core::bad_horiz_drift

Definition at line 1197 of file AP_NavEKF3_core.h.

◆ bad_horiz_vel

bool NavEKF3_core::bad_horiz_vel

Definition at line 1201 of file AP_NavEKF3_core.h.

◆ bad_npos

bool NavEKF3_core::bad_npos

Definition at line 1176 of file AP_NavEKF3_core.h.

◆ bad_nvel

bool NavEKF3_core::bad_nvel

Definition at line 1173 of file AP_NavEKF3_core.h.

◆ bad_rngbcn

bool NavEKF3_core::bad_rngbcn

Definition at line 1183 of file AP_NavEKF3_core.h.

◆ bad_sAcc

bool NavEKF3_core::bad_sAcc

Definition at line 1191 of file AP_NavEKF3_core.h.

◆ bad_sats

bool NavEKF3_core::bad_sats

Definition at line 1195 of file AP_NavEKF3_core.h.

◆ bad_sideslip

bool NavEKF3_core::bad_sideslip

Definition at line 1172 of file AP_NavEKF3_core.h.

◆ bad_vAcc

bool NavEKF3_core::bad_vAcc

Definition at line 1193 of file AP_NavEKF3_core.h.

◆ bad_vert_vel

bool NavEKF3_core::bad_vert_vel

Definition at line 1199 of file AP_NavEKF3_core.h.

◆ bad_VZ

bool NavEKF3_core::bad_VZ

Definition at line 1196 of file AP_NavEKF3_core.h.

◆ bad_xflow

bool NavEKF3_core::bad_xflow

Definition at line 1181 of file AP_NavEKF3_core.h.

◆ bad_xmag

bool NavEKF3_core::bad_xmag

Definition at line 1168 of file AP_NavEKF3_core.h.

◆ bad_xvel

bool NavEKF3_core::bad_xvel

Definition at line 1184 of file AP_NavEKF3_core.h.

◆ bad_yaw

bool NavEKF3_core::bad_yaw

Definition at line 1179 of file AP_NavEKF3_core.h.

◆ bad_yflow

bool NavEKF3_core::bad_yflow

Definition at line 1182 of file AP_NavEKF3_core.h.

◆ bad_ymag

bool NavEKF3_core::bad_ymag

Definition at line 1169 of file AP_NavEKF3_core.h.

◆ bad_yvel

bool NavEKF3_core::bad_yvel

Definition at line 1185 of file AP_NavEKF3_core.h.

◆ bad_zmag

bool NavEKF3_core::bad_zmag

Definition at line 1170 of file AP_NavEKF3_core.h.

◆ bad_zvel

bool NavEKF3_core::bad_zvel

Definition at line 1186 of file AP_NavEKF3_core.h.

◆ badIMUdata

bool NavEKF3_core::badIMUdata

private

Definition at line 811 of file AP_NavEKF3_core.h.

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

◆ badMagYaw

bool NavEKF3_core::badMagYaw

private

Definition at line 810 of file AP_NavEKF3_core.h.

Referenced by InitialiseVariables(), and realignYawGPS().

◆ baroDataDelayed

baro_elements NavEKF3_core::baroDataDelayed

private

Definition at line 905 of file AP_NavEKF3_core.h.

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

◆ baroDataNew

baro_elements NavEKF3_core::baroDataNew

private

Definition at line 904 of file AP_NavEKF3_core.h.

Referenced by readBaroData().

◆ baroDataToFuse

bool NavEKF3_core::baroDataToFuse

private

Definition at line 1040 of file AP_NavEKF3_core.h.

Referenced by selectHeightForFusion().

◆ baroHgtOffset

float NavEKF3_core::baroHgtOffset

private

Definition at line 1059 of file AP_NavEKF3_core.h.

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

◆ baroStoreIndex

uint8_t NavEKF3_core::baroStoreIndex

private

Definition at line 906 of file AP_NavEKF3_core.h.

Referenced by InitialiseVariables().

◆ bcnOriginEstInit

bool NavEKF3_core::bcnOriginEstInit

private

Definition at line 1129 of file AP_NavEKF3_core.h.

Referenced by InitialiseVariables(), and SelectRngBcnFusion().

◆ bcnPosDownOffsetMax

float NavEKF3_core::bcnPosDownOffsetMax

private

Definition at line 1120 of file AP_NavEKF3_core.h.

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

◆ bcnPosDownOffsetMin

float NavEKF3_core::bcnPosDownOffsetMin

private

Definition at line 1124 of file AP_NavEKF3_core.h.

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

◆ bcnPosOffsetMaxVar

float NavEKF3_core::bcnPosOffsetMaxVar

private

Definition at line 1121 of file AP_NavEKF3_core.h.

Referenced by CalcRangeBeaconPosDownOffset(), and InitialiseVariables().

◆ bcnPosOffsetMinVar

float NavEKF3_core::bcnPosOffsetMinVar

private

Definition at line 1125 of file AP_NavEKF3_core.h.

Referenced by CalcRangeBeaconPosDownOffset(), and InitialiseVariables().

◆ bcnPosOffsetNED

Vector3f NavEKF3_core::bcnPosOffsetNED

private

Definition at line 1128 of file AP_NavEKF3_core.h.

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

◆ beaconPosNED

Vector3f NavEKF3_core::beaconPosNED

Definition at line 1138 of file AP_NavEKF3_core.h.

◆ beaconVehiclePosErr

float NavEKF3_core::beaconVehiclePosErr

private

Definition at line 1103 of file AP_NavEKF3_core.h.

Referenced by InitialiseVariables(), and readRngBcnData().

◆ beaconVehiclePosNED

Vector3f NavEKF3_core::beaconVehiclePosNED

private

Definition at line 1102 of file AP_NavEKF3_core.h.

Referenced by InitialiseVariables(), and readRngBcnData().

◆ bodyMagFieldVar

Vector3f NavEKF3_core::bodyMagFieldVar

private

Definition at line 957 of file AP_NavEKF3_core.h.

Referenced by SelectMagFusion(), and setWindMagStateLearningMode().

◆ bodyOdmDataDelayed

vel_odm_elements NavEKF3_core::bodyOdmDataDelayed

private

Definition at line 1071 of file AP_NavEKF3_core.h.

Referenced by FuseBodyVel(), getBodyFrameOdomDebug(), InitialiseVariables(), and SelectBodyOdomFusion().

◆ bodyOdmDataNew

vel_odm_elements NavEKF3_core::bodyOdmDataNew

private

Definition at line 1070 of file AP_NavEKF3_core.h.

Referenced by InitialiseVariables(), readyToUseBodyOdm(), and writeBodyFrameOdom().

◆ bodyOdmMeasTime_ms

uint32_t NavEKF3_core::bodyOdmMeasTime_ms

private

Definition at line 1077 of file AP_NavEKF3_core.h.

Referenced by InitialiseVariables(), readyToUseBodyOdm(), and writeBodyFrameOdom().

◆ bodyVelFusionActive

bool NavEKF3_core::bodyVelFusionActive

private

Definition at line 1079 of file AP_NavEKF3_core.h.

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

◆ bodyVelFusionDelayed

bool NavEKF3_core::bodyVelFusionDelayed

private

Definition at line 1078 of file AP_NavEKF3_core.h.

Referenced by InitialiseVariables(), and SelectBodyOdomFusion().

◆ bodyVelTestRatio

Vector3 NavEKF3_core::bodyVelTestRatio

private

Definition at line 1073 of file AP_NavEKF3_core.h.

Referenced by FuseBodyVel(), and InitialiseVariables().

◆ consistentMagData

bool NavEKF3_core::consistentMagData

private

Definition at line 928 of file AP_NavEKF3_core.h.

Referenced by calcGpsGoodToAlign(), and readMagData().

◆ core_index

uint8_t NavEKF3_core::core_index

private

Definition at line 361 of file AP_NavEKF3_core.h.

Referenced by effective_magCal(), and setup_core().

◆ DCM

Matrix3f NavEKF3_core::DCM

Definition at line 1219 of file AP_NavEKF3_core.h.

Referenced by FuseMagnetometer().

◆ delAngBiasLearned

bool NavEKF3_core::delAngBiasLearned

private

Definition at line 958 of file AP_NavEKF3_core.h.

Referenced by checkGyroCalStatus(), InitialiseVariables(), readyToUseBodyOdm(), readyToUseGPS(), readyToUseOptFlow(), and readyToUseRangeBeacon().

◆ delAngBodyOF

Vector3f NavEKF3_core::delAngBodyOF

private

Definition at line 1052 of file AP_NavEKF3_core.h.

Referenced by UpdateStrapdownEquationsNED(), and writeOptFlowMeas().

◆ delAngCorrected

Vector3f NavEKF3_core::delAngCorrected

private

Definition at line 953 of file AP_NavEKF3_core.h.

Referenced by readIMUData(), and UpdateStrapdownEquationsNED().

◆ delAngCorrection

Vector3f NavEKF3_core::delAngCorrection

private

Definition at line 921 of file AP_NavEKF3_core.h.

Referenced by calcOutputStates(), and InitialiseVariables().

◆ delTimeOF

float NavEKF3_core::delTimeOF

private

Definition at line 1053 of file AP_NavEKF3_core.h.

Referenced by UpdateStrapdownEquationsNED(), and writeOptFlowMeas().

◆ delVelCorrected

Vector3f NavEKF3_core::delVelCorrected

private

Definition at line 954 of file AP_NavEKF3_core.h.

Referenced by readIMUData(), and UpdateStrapdownEquationsNED().

◆ dt

ftype NavEKF3_core::dt

private

Definition at line 831 of file AP_NavEKF3_core.h.

Referenced by CovariancePrediction(), and InitialiseVariables().

◆ dtEkfAvg

ftype NavEKF3_core::dtEkfAvg

private

Definition at line 830 of file AP_NavEKF3_core.h.

Referenced by calcOutputStates(), checkGyroCalStatus(), ConstrainStates(), ConstrainVariances(), correctDeltaAngle(), correctDeltaVelocity(), CovarianceInit(), CovariancePrediction(), getAccelBias(), getGyroBias(), InitialiseVariables(), readIMUData(), setup_core(), setWindMagStateLearningMode(), updateTimingStatistics(), writeBodyFrameOdom(), and writeWheelOdom().

◆ dtIMUavg

ftype NavEKF3_core::dtIMUavg

private

Definition at line 829 of file AP_NavEKF3_core.h.

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

◆ earthMagFieldVar

Vector3f NavEKF3_core::earthMagFieldVar

private

Definition at line 956 of file AP_NavEKF3_core.h.

Referenced by SelectMagFusion(), and setWindMagStateLearningMode().

◆ earthRateNED

Vector3f NavEKF3_core::earthRateNED

private

Definition at line 828 of file AP_NavEKF3_core.h.

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

◆ EKF_origin

struct Location NavEKF3_core::EKF_origin

private

Definition at line 883 of file AP_NavEKF3_core.h.

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

◆ ekfGpsRefHgt

double NavEKF3_core::ekfGpsRefHgt

private

Definition at line 961 of file AP_NavEKF3_core.h.

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

◆ ekfInnovationsPass

bool NavEKF3_core::ekfInnovationsPass

private

Definition at line 996 of file AP_NavEKF3_core.h.

Referenced by calcGpsGoodForFlight(), and InitialiseVariables().

◆ ekfOriginHgtVar

float NavEKF3_core::ekfOriginHgtVar

private

Definition at line 960 of file AP_NavEKF3_core.h.

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

◆ ekfStartTime_ms

uint32_t NavEKF3_core::ekfStartTime_ms

private

Definition at line 869 of file AP_NavEKF3_core.h.

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

◆ expectGndEffectTakeoff

bool NavEKF3_core::expectGndEffectTakeoff

private

Definition at line 1150 of file AP_NavEKF3_core.h.

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

◆ expectGndEffectTouchdown

bool NavEKF3_core::expectGndEffectTouchdown

private

Definition at line 1152 of file AP_NavEKF3_core.h.

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

◆ faultStatus

struct { ... } NavEKF3_core::faultStatus

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

◆ fifoIndexDelayed

uint8_t NavEKF3_core::fifoIndexDelayed

private

Definition at line 903 of file AP_NavEKF3_core.h.

◆ fifoIndexNow

uint8_t NavEKF3_core::fifoIndexNow

private

Definition at line 902 of file AP_NavEKF3_core.h.

◆ filterStatus

nav_filter_status NavEKF3_core::filterStatus

private

Definition at line 959 of file AP_NavEKF3_core.h.

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

◆ finalInflightMagInit

bool NavEKF3_core::finalInflightMagInit

private

Definition at line 1158 of file AP_NavEKF3_core.h.

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

◆ finalInflightYawInit

bool NavEKF3_core::finalInflightYawInit

private

Definition at line 1157 of file AP_NavEKF3_core.h.

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

◆ firstInitTime_ms

uint32_t NavEKF3_core::firstInitTime_ms

private

Definition at line 966 of file AP_NavEKF3_core.h.

Referenced by InitialiseFilterBootstrap(), and NavEKF3_core().

◆ flowDataToFuse

bool NavEKF3_core::flowDataToFuse

private

Definition at line 1013 of file AP_NavEKF3_core.h.

Referenced by SelectFlowFusion().

◆ flowDataValid

bool NavEKF3_core::flowDataValid

private

Definition at line 1014 of file AP_NavEKF3_core.h.

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

◆ flowFusionActive

bool NavEKF3_core::flowFusionActive

private

Definition at line 1054 of file AP_NavEKF3_core.h.

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

◆ flowGyroBias

Vector2f NavEKF3_core::flowGyroBias

private

Definition at line 1038 of file AP_NavEKF3_core.h.

Referenced by InitialiseVariables(), and writeOptFlowMeas().

◆ flowMeaTime_ms

uint32_t NavEKF3_core::flowMeaTime_ms

private

Definition at line 1020 of file AP_NavEKF3_core.h.

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

◆ flowTestRatio

Vector2 NavEKF3_core::flowTestRatio

private

Definition at line 1034 of file AP_NavEKF3_core.h.

Referenced by FuseOptFlow(), and getFlowDebug().

◆ flowValidMeaTime_ms

uint32_t NavEKF3_core::flowValidMeaTime_ms

private

Definition at line 1018 of file AP_NavEKF3_core.h.

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

◆ framesSincePredict

uint32_t NavEKF3_core::framesSincePredict

private

Definition at line 949 of file AP_NavEKF3_core.h.

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

◆ frontend

NavEKF3* NavEKF3_core::frontend

private

Definition at line 359 of file AP_NavEKF3_core.h.

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

◆ fuseHgtData

bool NavEKF3_core::fuseHgtData

private

Definition at line 843 of file AP_NavEKF3_core.h.

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

◆ fuseOptFlowData

bool NavEKF3_core::fuseOptFlowData

private

Definition at line 1015 of file AP_NavEKF3_core.h.

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

◆ fusePosData

bool NavEKF3_core::fusePosData

private

Definition at line 842 of file AP_NavEKF3_core.h.

Referenced by FuseVelPosNED(), and SelectVelPosFusion().

◆ fuseVelData

bool NavEKF3_core::fuseVelData

private

Definition at line 841 of file AP_NavEKF3_core.h.

Referenced by FuseVelPosNED(), and SelectVelPosFusion().

◆ fusionHorizonOffset

uint8_t NavEKF3_core::fusionHorizonOffset

private

Definition at line 945 of file AP_NavEKF3_core.h.

◆ gndHgtValidTime_ms

uint32_t NavEKF3_core::gndHgtValidTime_ms

private

Definition at line 1021 of file AP_NavEKF3_core.h.

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

◆ gndOffsetValid

bool NavEKF3_core::gndOffsetValid

private

Definition at line 1051 of file AP_NavEKF3_core.h.

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

◆ gpsAccuracyGood

bool NavEKF3_core::gpsAccuracyGood

private

Definition at line 1002 of file AP_NavEKF3_core.h.

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

◆ gpsCheckStatus

struct { ... } NavEKF3_core::gpsCheckStatus

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

◆ gpsDataDelayed

gps_elements NavEKF3_core::gpsDataDelayed

private

Definition at line 917 of file AP_NavEKF3_core.h.

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

◆ gpsDataNew

gps_elements NavEKF3_core::gpsDataNew

private

Definition at line 916 of file AP_NavEKF3_core.h.

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

◆ gpsDataToFuse

bool NavEKF3_core::gpsDataToFuse

private

Definition at line 1041 of file AP_NavEKF3_core.h.

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

◆ gpsDriftNE

float NavEKF3_core::gpsDriftNE

private

Definition at line 990 of file AP_NavEKF3_core.h.

Referenced by calcGpsGoodToAlign(), and InitialiseVariables().

◆ gpsGoodToAlign

bool NavEKF3_core::gpsGoodToAlign

private

Definition at line 926 of file AP_NavEKF3_core.h.

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

◆ gpsHgtAccuracy

float NavEKF3_core::gpsHgtAccuracy

private

Definition at line 887 of file AP_NavEKF3_core.h.

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

◆ gpsHorizVelFilt

float NavEKF3_core::gpsHorizVelFilt

private

Definition at line 992 of file AP_NavEKF3_core.h.

Referenced by calcGpsGoodToAlign(), and InitialiseVariables().

◆ gpsInhibit

bool NavEKF3_core::gpsInhibit

private

Definition at line 1050 of file AP_NavEKF3_core.h.

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

◆ gpsloc_prev

struct Location NavEKF3_core::gpsloc_prev

private

Definition at line 988 of file AP_NavEKF3_core.h.

Referenced by calcGpsGoodToAlign(), and InitialiseVariables().

◆ gpsNoiseScaler

float NavEKF3_core::gpsNoiseScaler

private

Definition at line 813 of file AP_NavEKF3_core.h.

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

◆ gpsNotAvailable

bool NavEKF3_core::gpsNotAvailable

private

Definition at line 882 of file AP_NavEKF3_core.h.

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

◆ gpsPosAccuracy

float NavEKF3_core::gpsPosAccuracy

private

Definition at line 886 of file AP_NavEKF3_core.h.

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

◆ gpsSpdAccPass

bool NavEKF3_core::gpsSpdAccPass

private

Definition at line 995 of file AP_NavEKF3_core.h.

Referenced by calcGpsGoodForFlight(), and InitialiseVariables().

◆ gpsSpdAccuracy

float NavEKF3_core::gpsSpdAccuracy

private

Definition at line 885 of file AP_NavEKF3_core.h.

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

◆ gpsVertVelFilt

float NavEKF3_core::gpsVertVelFilt

private

Definition at line 991 of file AP_NavEKF3_core.h.

Referenced by calcGpsGoodToAlign(), and InitialiseVariables().

◆ gpsYawResetRequest

bool NavEKF3_core::gpsYawResetRequest

private

Definition at line 1161 of file AP_NavEKF3_core.h.

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

◆ heldVelNE

Vector2f NavEKF3_core::heldVelNE

private

Definition at line 1043 of file AP_NavEKF3_core.h.

Referenced by InitialiseVariables().

◆ hgtHealth

bool NavEKF3_core::hgtHealth

private

Definition at line 802 of file AP_NavEKF3_core.h.

Referenced by FuseVelPosNED().

◆ hgtInnovFiltState

float NavEKF3_core::hgtInnovFiltState

private

Definition at line 946 of file AP_NavEKF3_core.h.

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

◆ hgtMea

float NavEKF3_core::hgtMea

private

Definition at line 1031 of file AP_NavEKF3_core.h.

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

◆ hgtRate

ftype NavEKF3_core::hgtRate

private

Definition at line 832 of file AP_NavEKF3_core.h.

Referenced by CovariancePrediction(), and InitialiseVariables().

◆ hgtRetryTime_ms

uint16_t NavEKF3_core::hgtRetryTime_ms

private

Definition at line 858 of file AP_NavEKF3_core.h.

Referenced by selectHeightForFusion().

◆ hgtTestRatio

float NavEKF3_core::hgtTestRatio

private

Definition at line 875 of file AP_NavEKF3_core.h.

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

◆ hgtTimeout

bool NavEKF3_core::hgtTimeout

private

Definition at line 807 of file AP_NavEKF3_core.h.

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

◆ imu_buffer_length

uint8_t NavEKF3_core::imu_buffer_length

private

Definition at line 362 of file AP_NavEKF3_core.h.

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

◆ imu_index

uint8_t NavEKF3_core::imu_index

private

Definition at line 360 of file AP_NavEKF3_core.h.

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

◆ imuDataDelayed

imu_elements NavEKF3_core::imuDataDelayed

private

◆ imuDataDownSampledNew

imu_elements NavEKF3_core::imuDataDownSampledNew

private

Definition at line 900 of file AP_NavEKF3_core.h.

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

◆ imuDataNew

imu_elements NavEKF3_core::imuDataNew

private

Definition at line 899 of file AP_NavEKF3_core.h.

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

◆ imuQuatDownSampleNew

Quaternion NavEKF3_core::imuQuatDownSampleNew

private

Definition at line 901 of file AP_NavEKF3_core.h.

Referenced by readIMUData().

◆ imuSampleTime_ms

uint32_t NavEKF3_core::imuSampleTime_ms

private

Definition at line 855 of file AP_NavEKF3_core.h.

Referenced by calcGpsGoodForFlight(), calcGpsGoodToAlign(), calcQuatAndFieldStates(), controlFilterModes(), detectFlight(), detectOptFlowTakeoff(), EstimateTerrainOffset(), FuseAirspeed(), FuseBodyVel(), FuseOptFlow(), FuseRngBcn(), FuseVelPosNED(), getEkfControlLimits(), getTakeoffExpected(), getTouchdownExpected(), healthy(), InitialiseFilterBootstrap(), InitialiseVariables(), prearm_failure_reason(), readIMUData(), readMagData(), readRangeFinder(), readRngBcnData(), readyToUseBodyOdm(), readyToUseOptFlow(), ResetHeight(), ResetPosition(), ResetVelocity(), SelectBetaFusion(), SelectFlowFusion(), selectHeightForFusion(), SelectMagFusion(), SelectTasFusion(), SelectVelPosFusion(), setAidingMode(), setTakeoffExpected(), setTerrainHgtStable(), setTouchdownExpected(), updateFilterStatus(), and writeOptFlowMeas().

◆ inFlight

bool NavEKF3_core::inFlight

private

Definition at line 835 of file AP_NavEKF3_core.h.

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

◆ inhibitDelAngBiasStates

bool NavEKF3_core::inhibitDelAngBiasStates

private

Definition at line 881 of file AP_NavEKF3_core.h.

Referenced by ConstrainVariances(), FuseAirspeed(), FuseBodyVel(), FuseDeclination(), FuseMagnetometer(), FuseOptFlow(), FuseRngBcn(), FuseSideslip(), FuseVelPosNED(), InitialiseVariables(), setWindMagStateLearningMode(), and updateStateIndexLim().

◆ inhibitDelVelBiasStates

bool NavEKF3_core::inhibitDelVelBiasStates

private

Definition at line 880 of file AP_NavEKF3_core.h.

Referenced by ConstrainVariances(), FuseAirspeed(), FuseBodyVel(), FuseDeclination(), FuseMagnetometer(), FuseOptFlow(), FuseRngBcn(), FuseSideslip(), FuseVelPosNED(), InitialiseVariables(), setWindMagStateLearningMode(), and updateStateIndexLim().

◆ inhibitGndState

bool NavEKF3_core::inhibitGndState

private

Definition at line 1032 of file AP_NavEKF3_core.h.

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

◆ inhibitMagStates

bool NavEKF3_core::inhibitMagStates

private

Definition at line 879 of file AP_NavEKF3_core.h.

Referenced by alignMagStateDeclination(), ConstrainVariances(), FuseAirspeed(), FuseBodyVel(), FuseDeclination(), FuseMagnetometer(), FuseOptFlow(), FuseRngBcn(), FuseSideslip(), FuseVelPosNED(), getMagOffsets(), InitialiseVariables(), SelectMagFusion(), setWindMagStateLearningMode(), and updateStateIndexLim().

◆ inhibitWindStates

bool NavEKF3_core::inhibitWindStates

private

Definition at line 878 of file AP_NavEKF3_core.h.

Referenced by ConstrainVariances(), FuseAirspeed(), FuseBodyVel(), FuseDeclination(), FuseMagnetometer(), FuseOptFlow(), FuseRngBcn(), FuseSideslip(), FuseVelPosNED(), InitialiseVariables(), SelectBetaFusion(), SelectTasFusion(), setWindMagStateLearningMode(), and updateStateIndexLim().

◆ innov

float NavEKF3_core::innov

Definition at line 1135 of file AP_NavEKF3_core.h.

Referenced by CalcRangeBeaconPosDownOffset().

◆ innovationIncrement

float NavEKF3_core::innovationIncrement

private

Definition at line 1005 of file AP_NavEKF3_core.h.

Referenced by InitialiseVariables().

◆ innovBodyVel

Vector3 NavEKF3_core::innovBodyVel

private

Definition at line 1075 of file AP_NavEKF3_core.h.

Referenced by FuseBodyVel(), getBodyFrameOdomDebug(), and InitialiseVariables().

◆ innovMag

Vector3f NavEKF3_core::innovMag

private

Definition at line 844 of file AP_NavEKF3_core.h.

Referenced by FuseMagnetometer(), and getInnovations().

◆ innovOptFlow

Vector2 NavEKF3_core::innovOptFlow

private

Definition at line 1024 of file AP_NavEKF3_core.h.

Referenced by FuseOptFlow(), and getFlowDebug().

◆ innovRng

float NavEKF3_core::innovRng

private

Definition at line 1030 of file AP_NavEKF3_core.h.

Referenced by EstimateTerrainOffset(), and getFlowDebug().

◆ innovRngBcn

float NavEKF3_core::innovRngBcn

private

Definition at line 1099 of file AP_NavEKF3_core.h.

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

◆ innovVar

float NavEKF3_core::innovVar

Definition at line 1136 of file AP_NavEKF3_core.h.

Referenced by CalcRangeBeaconPosDownOffset().

◆ innovVelPos

Vector6 NavEKF3_core::innovVelPos

private

Definition at line 839 of file AP_NavEKF3_core.h.

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

◆ innovVtas

ftype NavEKF3_core::innovVtas

private

Definition at line 846 of file AP_NavEKF3_core.h.

Referenced by FuseAirspeed(), and getInnovations().

◆ innovYaw

float NavEKF3_core::innovYaw

private

Definition at line 924 of file AP_NavEKF3_core.h.

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

◆ Kfusion

Vector28 NavEKF3_core::Kfusion

private

Definition at line 814 of file AP_NavEKF3_core.h.

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

◆ KH

Matrix24 NavEKF3_core::KH

private

Definition at line 815 of file AP_NavEKF3_core.h.

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

◆ KHP

Matrix24 NavEKF3_core::KHP

private

Definition at line 816 of file AP_NavEKF3_core.h.

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

◆ last_gps_idx

uint8_t NavEKF3_core::last_gps_idx

private

Definition at line 918 of file AP_NavEKF3_core.h.

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

◆ lastBaroReceived_ms

uint32_t NavEKF3_core::lastBaroReceived_ms

private

Definition at line 857 of file AP_NavEKF3_core.h.

Referenced by InitialiseVariables(), and readBaroData().

◆ lastBeaconIndex

uint8_t NavEKF3_core::lastBeaconIndex

private

Definition at line 1111 of file AP_NavEKF3_core.h.

Referenced by FuseRngBcnStatic(), and InitialiseVariables().

◆ lastbodyVelPassTime_ms

uint32_t NavEKF3_core::lastbodyVelPassTime_ms

private

Definition at line 1072 of file AP_NavEKF3_core.h.

Referenced by InitialiseVariables(), and setAidingMode().

◆ lastDecayTime_ms

uint32_t NavEKF3_core::lastDecayTime_ms

private

Definition at line 872 of file AP_NavEKF3_core.h.

Referenced by InitialiseVariables().

◆ lastGpsAidBadTime_ms

uint32_t NavEKF3_core::lastGpsAidBadTime_ms

private

Definition at line 889 of file AP_NavEKF3_core.h.

Referenced by InitialiseVariables().

◆ lastGpsCheckTime_ms

uint32_t NavEKF3_core::lastGpsCheckTime_ms

private

Definition at line 999 of file AP_NavEKF3_core.h.

Referenced by calcGpsGoodForFlight(), and InitialiseVariables().

◆ lastGpsVelFail_ms

uint32_t NavEKF3_core::lastGpsVelFail_ms

private

Definition at line 888 of file AP_NavEKF3_core.h.

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

◆ lastHealthyMagTime_ms

uint32_t NavEKF3_core::lastHealthyMagTime_ms

private

Definition at line 866 of file AP_NavEKF3_core.h.

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

◆ lastHgtPassTime_ms

uint32_t NavEKF3_core::lastHgtPassTime_ms

private

Definition at line 861 of file AP_NavEKF3_core.h.

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

◆ lastInitFailReport_ms

uint32_t NavEKF3_core::lastInitFailReport_ms

private

Definition at line 967 of file AP_NavEKF3_core.h.

Referenced by NavEKF3_core(), and setup_core().

◆ lastInnovation

float NavEKF3_core::lastInnovation

private

Definition at line 1006 of file AP_NavEKF3_core.h.

Referenced by InitialiseVariables().

◆ lastInnovFailTime_ms

uint32_t NavEKF3_core::lastInnovFailTime_ms

private

Definition at line 1001 of file AP_NavEKF3_core.h.

Referenced by calcGpsGoodForFlight(), and InitialiseVariables().

◆ lastInnovPassTime_ms

uint32_t NavEKF3_core::lastInnovPassTime_ms

private

Definition at line 1000 of file AP_NavEKF3_core.h.

Referenced by calcGpsGoodForFlight(), and InitialiseVariables().

◆ lastKnownPositionNE

Vector2f NavEKF3_core::lastKnownPositionNE

private

Definition at line 871 of file AP_NavEKF3_core.h.

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

◆ lastMagOffsets

Vector3f NavEKF3_core::lastMagOffsets

private

Definition at line 935 of file AP_NavEKF3_core.h.

Referenced by readMagData().

◆ lastMagOffsetsValid

bool NavEKF3_core::lastMagOffsetsValid

private

Definition at line 936 of file AP_NavEKF3_core.h.

Referenced by InitialiseVariables(), and readMagData().

◆ lastMagUpdate_us

uint32_t NavEKF3_core::lastMagUpdate_us

private

Definition at line 852 of file AP_NavEKF3_core.h.

Referenced by InitialiseVariables(), and readMagData().

◆ lastOriginHgtTime_ms

uint32_t NavEKF3_core::lastOriginHgtTime_ms

private

Definition at line 962 of file AP_NavEKF3_core.h.

Referenced by correctEkfOriginHeight().

◆ lastPosPassTime_ms

uint32_t NavEKF3_core::lastPosPassTime_ms

private

Definition at line 860 of file AP_NavEKF3_core.h.

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

◆ lastPosReset_ms

uint32_t NavEKF3_core::lastPosReset_ms

private

Definition at line 938 of file AP_NavEKF3_core.h.

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

◆ lastPosResetD_ms

uint32_t NavEKF3_core::lastPosResetD_ms

private

Definition at line 942 of file AP_NavEKF3_core.h.

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

◆ lastPreAlignGpsCheckTime_ms

uint32_t NavEKF3_core::lastPreAlignGpsCheckTime_ms

private

Definition at line 989 of file AP_NavEKF3_core.h.

Referenced by calcGpsGoodToAlign(), and InitialiseVariables().

◆ lastRngBcnChecked

uint8_t NavEKF3_core::lastRngBcnChecked

private

Definition at line 1106 of file AP_NavEKF3_core.h.

Referenced by InitialiseVariables(), and readRngBcnData().

◆ lastRngBcnPassTime_ms

uint32_t NavEKF3_core::lastRngBcnPassTime_ms

private

Definition at line 1094 of file AP_NavEKF3_core.h.

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

◆ lastRngMeasTime_ms

uint32_t NavEKF3_core::lastRngMeasTime_ms

private

Definition at line 1063 of file AP_NavEKF3_core.h.

Referenced by InitialiseVariables(), and readRangeFinder().

◆ lastSynthYawTime_ms

uint32_t NavEKF3_core::lastSynthYawTime_ms

private

Definition at line 868 of file AP_NavEKF3_core.h.

Referenced by InitialiseVariables(), and SelectMagFusion().

◆ lastTasPassTime_ms

uint32_t NavEKF3_core::lastTasPassTime_ms

private

Definition at line 862 of file AP_NavEKF3_core.h.

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

◆ lastTimeGpsReceived_ms

uint32_t NavEKF3_core::lastTimeGpsReceived_ms

private

Definition at line 863 of file AP_NavEKF3_core.h.

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

◆ lastTimeRngBcn_ms

uint32_t NavEKF3_core::lastTimeRngBcn_ms[10]

private

Definition at line 1100 of file AP_NavEKF3_core.h.

Referenced by InitialiseVariables(), and readRngBcnData().

◆ lastVelPassTime_ms

uint32_t NavEKF3_core::lastVelPassTime_ms

private

Definition at line 859 of file AP_NavEKF3_core.h.

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

◆ lastVelReset_ms

uint32_t NavEKF3_core::lastVelReset_ms

private

Definition at line 940 of file AP_NavEKF3_core.h.

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

◆ lastYawReset_ms

uint32_t NavEKF3_core::lastYawReset_ms

private

Definition at line 893 of file AP_NavEKF3_core.h.

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

◆ localFilterTimeStep_ms

uint8_t NavEKF3_core::localFilterTimeStep_ms

private

Definition at line 951 of file AP_NavEKF3_core.h.

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

◆ mag_state

struct { ... } NavEKF3_core::mag_state

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

◆ magD

ftype NavEKF3_core::magD

Definition at line 1214 of file AP_NavEKF3_core.h.

Referenced by FuseMagnetometer().

◆ magDataDelayed

mag_elements NavEKF3_core::magDataDelayed

private

Definition at line 914 of file AP_NavEKF3_core.h.

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

◆ magDataNew

mag_elements NavEKF3_core::magDataNew

private

Definition at line 913 of file AP_NavEKF3_core.h.

Referenced by readMagData().

◆ magDataToFuse

bool NavEKF3_core::magDataToFuse

private

Definition at line 1042 of file AP_NavEKF3_core.h.

Referenced by readMagData(), and SelectMagFusion().

◆ magE

ftype NavEKF3_core::magE

Definition at line 1213 of file AP_NavEKF3_core.h.

Referenced by FuseDeclination(), and FuseMagnetometer().

◆ magFieldLearned

bool NavEKF3_core::magFieldLearned

private

Definition at line 955 of file AP_NavEKF3_core.h.

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

◆ magFusePerformed

bool NavEKF3_core::magFusePerformed

private

Definition at line 848 of file AP_NavEKF3_core.h.

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

◆ magFuseRequired

bool NavEKF3_core::magFuseRequired

private

Definition at line 849 of file AP_NavEKF3_core.h.

Referenced by FuseMagnetometer().

◆ magHealth

bool NavEKF3_core::magHealth

private

Definition at line 803 of file AP_NavEKF3_core.h.

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

◆ magN

ftype NavEKF3_core::magN

Definition at line 1212 of file AP_NavEKF3_core.h.

Referenced by FuseDeclination(), and FuseMagnetometer().

◆ MagPred

Vector3f NavEKF3_core::MagPred

Definition at line 1220 of file AP_NavEKF3_core.h.

Referenced by FuseMagnetometer().

◆ magSelectIndex

uint8_t NavEKF3_core::magSelectIndex

private

Definition at line 947 of file AP_NavEKF3_core.h.

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

◆ magStateInitComplete

bool NavEKF3_core::magStateInitComplete

private

Definition at line 896 of file AP_NavEKF3_core.h.

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

◆ magStateResetRequest

bool NavEKF3_core::magStateResetRequest

private

Definition at line 1159 of file AP_NavEKF3_core.h.

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

◆ magStoreIndex

uint8_t NavEKF3_core::magStoreIndex

private

Definition at line 915 of file AP_NavEKF3_core.h.

Referenced by InitialiseVariables().

◆ magTestRatio

Vector3f NavEKF3_core::magTestRatio

private

Definition at line 876 of file AP_NavEKF3_core.h.

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

◆ magTimeout

bool NavEKF3_core::magTimeout

private

Definition at line 808 of file AP_NavEKF3_core.h.

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

◆ magXbias

ftype NavEKF3_core::magXbias

Definition at line 1215 of file AP_NavEKF3_core.h.

Referenced by FuseMagnetometer().

◆ magYawResetRequest

bool NavEKF3_core::magYawResetRequest

private

Definition at line 1160 of file AP_NavEKF3_core.h.

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

◆ magYawResetTimer_ms

uint32_t NavEKF3_core::magYawResetTimer_ms

private

Definition at line 927 of file AP_NavEKF3_core.h.

Referenced by calcGpsGoodToAlign(), and InitialiseVariables().

◆ magYbias

ftype NavEKF3_core::magYbias

Definition at line 1216 of file AP_NavEKF3_core.h.

Referenced by FuseMagnetometer().

◆ magZbias

ftype NavEKF3_core::magZbias

Definition at line 1217 of file AP_NavEKF3_core.h.

Referenced by FuseMagnetometer().

◆ manoeuvring

bool NavEKF3_core::manoeuvring

private

Definition at line 837 of file AP_NavEKF3_core.h.

Referenced by InitialiseVariables(), and setWindMagStateLearningMode().

◆ maxBcnPosD

float NavEKF3_core::maxBcnPosD

private

Definition at line 1116 of file AP_NavEKF3_core.h.

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

◆ maxOffsetStateChangeFilt

float NavEKF3_core::maxOffsetStateChangeFilt

private

Definition at line 1122 of file AP_NavEKF3_core.h.

Referenced by CalcRangeBeaconPosDownOffset(), and InitialiseVariables().

◆ meaHgtAtTakeOff

float NavEKF3_core::meaHgtAtTakeOff

private

Definition at line 1154 of file AP_NavEKF3_core.h.

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

◆ minBcnPosD

float NavEKF3_core::minBcnPosD

private

Definition at line 1117 of file AP_NavEKF3_core.h.

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

◆ minOffsetStateChangeFilt

float NavEKF3_core::minOffsetStateChangeFilt

private

Definition at line 1126 of file AP_NavEKF3_core.h.

Referenced by CalcRangeBeaconPosDownOffset(), and InitialiseVariables().

◆ motorsArmed

bool NavEKF3_core::motorsArmed

private

Definition at line 929 of file AP_NavEKF3_core.h.

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

◆ N_beacons

uint8_t NavEKF3_core::N_beacons

private

Definition at line 1115 of file AP_NavEKF3_core.h.

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

◆ nextP

Matrix24 NavEKF3_core::nextP

private

Definition at line 870 of file AP_NavEKF3_core.h.

Referenced by InitialiseVariables().

◆ numBcnMeas

uint8_t NavEKF3_core::numBcnMeas

private

Definition at line 1113 of file AP_NavEKF3_core.h.

Referenced by FuseRngBcnStatic(), and InitialiseVariables().

◆ obs_buffer_length

uint8_t NavEKF3_core::obs_buffer_length

private

Definition at line 363 of file AP_NavEKF3_core.h.

Referenced by setup_core().

◆ obsIndex

uint8_t NavEKF3_core::obsIndex

Definition at line 1218 of file AP_NavEKF3_core.h.

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

◆ ofDataDelayed

of_elements NavEKF3_core::ofDataDelayed

private

Definition at line 1011 of file AP_NavEKF3_core.h.

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

◆ ofDataNew

of_elements NavEKF3_core::ofDataNew

private

Definition at line 1010 of file AP_NavEKF3_core.h.

Referenced by writeOptFlowMeas().

◆ ofStoreIndex

uint8_t NavEKF3_core::ofStoreIndex

private

Definition at line 1012 of file AP_NavEKF3_core.h.

Referenced by InitialiseVariables().

◆ onGround

bool NavEKF3_core::onGround

private

Definition at line 833 of file AP_NavEKF3_core.h.

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

◆ optFlowFusionDelayed

bool NavEKF3_core::optFlowFusionDelayed

private

Definition at line 932 of file AP_NavEKF3_core.h.

Referenced by InitialiseVariables(), and SelectFlowFusion().

◆ outputDataDelayed

output_elements NavEKF3_core::outputDataDelayed

private

Definition at line 920 of file AP_NavEKF3_core.h.

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

◆ outputDataNew

output_elements NavEKF3_core::outputDataNew

private

Definition at line 919 of file AP_NavEKF3_core.h.

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

◆ outputTrackError

Vector3f NavEKF3_core::outputTrackError

private

Definition at line 963 of file AP_NavEKF3_core.h.

Referenced by calcOutputStates(), and getOutputTrackingError().

◆ P

◆ Popt

float NavEKF3_core::Popt

private

Definition at line 1025 of file AP_NavEKF3_core.h.

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

◆ posDown

float NavEKF3_core::posDown

private

Definition at line 985 of file AP_NavEKF3_core.h.

Referenced by InitialiseVariables(), and StoreOutputReset().

◆ posDownAtLastMagReset

float NavEKF3_core::posDownAtLastMagReset

private

Definition at line 1162 of file AP_NavEKF3_core.h.

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

◆ posDownAtTakeoff

float NavEKF3_core::posDownAtTakeoff

private

Definition at line 890 of file AP_NavEKF3_core.h.

Referenced by controlMagYawReset(), and detectFlight().

◆ posDownDerivative

float NavEKF3_core::posDownDerivative

private

Definition at line 984 of file AP_NavEKF3_core.h.

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

◆ posDownObsNoise

float NavEKF3_core::posDownObsNoise

private

Definition at line 952 of file AP_NavEKF3_core.h.

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

◆ posErrintegral

Vector3f NavEKF3_core::posErrintegral

private

Definition at line 923 of file AP_NavEKF3_core.h.

Referenced by calcOutputStates(), and InitialiseVariables().

◆ posHealth

bool NavEKF3_core::posHealth

private

Definition at line 801 of file AP_NavEKF3_core.h.

Referenced by FuseVelPosNED().

◆ posOffsetNED

Vector3f NavEKF3_core::posOffsetNED

private

Definition at line 965 of file AP_NavEKF3_core.h.

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

◆ posResetD

float NavEKF3_core::posResetD

private

Definition at line 941 of file AP_NavEKF3_core.h.

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

◆ posResetNE

Vector2f NavEKF3_core::posResetNE

private

Definition at line 937 of file AP_NavEKF3_core.h.

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

◆ posResetSource

resetDataSource NavEKF3_core::posResetSource

private

Definition at line 980 of file AP_NavEKF3_core.h.

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

◆ posTestRatio

float NavEKF3_core::posTestRatio

private

Definition at line 874 of file AP_NavEKF3_core.h.

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

◆ posTimeout

bool NavEKF3_core::posTimeout

private

Definition at line 806 of file AP_NavEKF3_core.h.

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

◆ posVelFusionDelayed

bool NavEKF3_core::posVelFusionDelayed

private

Definition at line 931 of file AP_NavEKF3_core.h.

Referenced by InitialiseVariables(), and SelectVelPosFusion().

◆ prearm_fail_string

char NavEKF3_core::prearm_fail_string[40]

private

Definition at line 1226 of file AP_NavEKF3_core.h.

Referenced by calcGpsGoodToAlign(), and prearm_failure_reason().

◆ prevBetaStep_ms

uint32_t NavEKF3_core::prevBetaStep_ms

private

Definition at line 851 of file AP_NavEKF3_core.h.

Referenced by InitialiseVariables(), and SelectBetaFusion().

◆ prevBodyVelFuseTime_ms

uint32_t NavEKF3_core::prevBodyVelFuseTime_ms

private

Definition at line 1076 of file AP_NavEKF3_core.h.

Referenced by FuseBodyVel(), getEkfControlLimits(), InitialiseVariables(), setAidingMode(), and updateFilterStatus().

◆ prevFlowFuseTime_ms

uint32_t NavEKF3_core::prevFlowFuseTime_ms

private

Definition at line 1033 of file AP_NavEKF3_core.h.

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

◆ prevInFlight

bool NavEKF3_core::prevInFlight

private

Definition at line 836 of file AP_NavEKF3_core.h.

Referenced by detectFlight(), and InitialiseVariables().

◆ prevMotorsArmed

bool NavEKF3_core::prevMotorsArmed

private

Definition at line 930 of file AP_NavEKF3_core.h.

Referenced by controlFilterModes(), and InitialiseVariables().

◆ prevOnGround

bool NavEKF3_core::prevOnGround

private

Definition at line 834 of file AP_NavEKF3_core.h.

Referenced by detectFlight(), and InitialiseVariables().

◆ prevPosE

float NavEKF3_core::prevPosE

private

Definition at line 1028 of file AP_NavEKF3_core.h.

Referenced by EstimateTerrainOffset(), and InitialiseVariables().

◆ prevPosN

float NavEKF3_core::prevPosN

private

Definition at line 1027 of file AP_NavEKF3_core.h.

Referenced by EstimateTerrainOffset(), and InitialiseVariables().

◆ prevQuatMagReset

Quaternion NavEKF3_core::prevQuatMagReset

private

Definition at line 944 of file AP_NavEKF3_core.h.

Referenced by controlMagYawReset().

◆ prevTasStep_ms

uint32_t NavEKF3_core::prevTasStep_ms

private

Definition at line 850 of file AP_NavEKF3_core.h.

Referenced by InitialiseVariables(), and SelectTasFusion().

◆ prevTnb

Matrix3f NavEKF3_core::prevTnb

private

Definition at line 825 of file AP_NavEKF3_core.h.

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

◆ PV_AidingMode

AidingMode NavEKF3_core::PV_AidingMode

private

◆ PV_AidingModePrev

AidingMode NavEKF3_core::PV_AidingModePrev

private

Definition at line 1049 of file AP_NavEKF3_core.h.

Referenced by InitialiseVariables(), and setAidingMode().

◆ q0

ftype NavEKF3_core::q0

Definition at line 1208 of file AP_NavEKF3_core.h.

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

◆ q1

ftype NavEKF3_core::q1

Definition at line 1209 of file AP_NavEKF3_core.h.

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

◆ q2

ftype NavEKF3_core::q2

Definition at line 1210 of file AP_NavEKF3_core.h.

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

◆ q3

ftype NavEKF3_core::q3

Definition at line 1211 of file AP_NavEKF3_core.h.

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

◆ quatAtLastMagReset

Quaternion NavEKF3_core::quatAtLastMagReset

private

Definition at line 1164 of file AP_NavEKF3_core.h.

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

◆ R_LOS

float NavEKF3_core::R_LOS

private

Definition at line 1036 of file AP_NavEKF3_core.h.

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

◆ R_MAG

ftype NavEKF3_core::R_MAG

Definition at line 1221 of file AP_NavEKF3_core.h.

Referenced by FuseMagnetometer().

◆ rangeDataDelayed

range_elements NavEKF3_core::rangeDataDelayed

private

Definition at line 908 of file AP_NavEKF3_core.h.

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

◆ rangeDataNew

range_elements NavEKF3_core::rangeDataNew

private

Definition at line 907 of file AP_NavEKF3_core.h.

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

◆ rangeDataToFuse

bool NavEKF3_core::rangeDataToFuse

private

Definition at line 1039 of file AP_NavEKF3_core.h.

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

◆ rangeStoreIndex

uint8_t NavEKF3_core::rangeStoreIndex

private

Definition at line 909 of file AP_NavEKF3_core.h.

Referenced by InitialiseVariables().

◆ receiverPos

Vector3f NavEKF3_core::receiverPos

private

Definition at line 1107 of file AP_NavEKF3_core.h.

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

◆ receiverPosCov

float NavEKF3_core::receiverPosCov[3][3]

private

Definition at line 1108 of file AP_NavEKF3_core.h.

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

◆ rng

float NavEKF3_core::rng

Definition at line 1134 of file AP_NavEKF3_core.h.

◆ rngAtStartOfFlight

float NavEKF3_core::rngAtStartOfFlight

private

Definition at line 1146 of file AP_NavEKF3_core.h.

Referenced by detectFlight(), and detectOptFlowTakeoff().

◆ rngBcnAlignmentCompleted

bool NavEKF3_core::rngBcnAlignmentCompleted

private

Definition at line 1110 of file AP_NavEKF3_core.h.

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

◆ rngBcnAlignmentStarted

bool NavEKF3_core::rngBcnAlignmentStarted

private

Definition at line 1109 of file AP_NavEKF3_core.h.

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

◆ rngBcnDataDelayed

rng_bcn_elements NavEKF3_core::rngBcnDataDelayed

private

Definition at line 1092 of file AP_NavEKF3_core.h.

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

◆ rngBcnDataNew

rng_bcn_elements NavEKF3_core::rngBcnDataNew

private

Definition at line 1091 of file AP_NavEKF3_core.h.

Referenced by InitialiseVariables(), and readRngBcnData().

◆ rngBcnDataToFuse

bool NavEKF3_core::rngBcnDataToFuse

private

Definition at line 1101 of file AP_NavEKF3_core.h.

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

◆ rngBcnFuseDataReportIndex

uint8_t NavEKF3_core::rngBcnFuseDataReportIndex

private

Definition at line 1132 of file AP_NavEKF3_core.h.

Referenced by getRangeBeaconDebug(), and InitialiseVariables().

◆ rngBcnFusionReport

struct { ... } NavEKF3_core::rngBcnFusionReport[10]

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

◆ rngBcnGoodToAlign

bool NavEKF3_core::rngBcnGoodToAlign

private

Definition at line 1105 of file AP_NavEKF3_core.h.

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

◆ rngBcnHealth

bool NavEKF3_core::rngBcnHealth

private

Definition at line 1096 of file AP_NavEKF3_core.h.

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

◆ rngBcnLast3DmeasTime_ms

uint32_t NavEKF3_core::rngBcnLast3DmeasTime_ms

private

Definition at line 1104 of file AP_NavEKF3_core.h.

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

◆ rngBcnPosSum

Vector3f NavEKF3_core::rngBcnPosSum

private

Definition at line 1112 of file AP_NavEKF3_core.h.

Referenced by FuseRngBcnStatic(), and InitialiseVariables().

◆ rngBcnStoreIndex

uint8_t NavEKF3_core::rngBcnStoreIndex

private

Definition at line 1093 of file AP_NavEKF3_core.h.

Referenced by InitialiseVariables().

◆ rngBcnTestRatio

float NavEKF3_core::rngBcnTestRatio

private

Definition at line 1095 of file AP_NavEKF3_core.h.

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

◆ rngBcnTimeout

bool NavEKF3_core::rngBcnTimeout

private

Definition at line 1097 of file AP_NavEKF3_core.h.

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

◆ rngMeasIndex

uint8_t NavEKF3_core::rngMeasIndex[2]

private

Definition at line 1064 of file AP_NavEKF3_core.h.

Referenced by InitialiseVariables(), and readRangeFinder().

◆ rngOnGnd

float NavEKF3_core::rngOnGnd

private

Definition at line 1060 of file AP_NavEKF3_core.h.

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

◆ rngSum

float NavEKF3_core::rngSum

private

Definition at line 1114 of file AP_NavEKF3_core.h.

Referenced by FuseRngBcnStatic(), and InitialiseVariables().

◆ rngValidMeaTime_ms

uint32_t NavEKF3_core::rngValidMeaTime_ms

private

Definition at line 1019 of file AP_NavEKF3_core.h.

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

◆ runUpdates

bool NavEKF3_core::runUpdates

private

Definition at line 948 of file AP_NavEKF3_core.h.

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

◆ sAccFilterState1

float NavEKF3_core::sAccFilterState1

private

Definition at line 997 of file AP_NavEKF3_core.h.

Referenced by calcGpsGoodForFlight(), and InitialiseVariables().

◆ sAccFilterState2

float NavEKF3_core::sAccFilterState2

private

Definition at line 998 of file AP_NavEKF3_core.h.

Referenced by calcGpsGoodForFlight(), and InitialiseVariables().

◆ secondLastGpsTime_ms

uint32_t NavEKF3_core::secondLastGpsTime_ms

private

Definition at line 865 of file AP_NavEKF3_core.h.

Referenced by InitialiseVariables(), and readGpsData().

◆ SH_MAG

Vector9 NavEKF3_core::SH_MAG

Definition at line 1222 of file AP_NavEKF3_core.h.

Referenced by FuseMagnetometer().

◆ sideSlipFusionDelayed

bool NavEKF3_core::sideSlipFusionDelayed

private

Definition at line 934 of file AP_NavEKF3_core.h.

Referenced by InitialiseVariables(), and SelectBetaFusion().

◆ startPredictEnabled

bool NavEKF3_core::startPredictEnabled

private

Definition at line 950 of file AP_NavEKF3_core.h.

Referenced by readIMUData(), and UpdateFilter().

◆ stateIndexLim

uint8_t NavEKF3_core::stateIndexLim

private

Definition at line 897 of file AP_NavEKF3_core.h.

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

◆ statesArray

Vector24 NavEKF3_core::statesArray

private

Definition at line 422 of file AP_NavEKF3_core.h.

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

◆ statesInitialised

bool NavEKF3_core::statesInitialised

private

Definition at line 799 of file AP_NavEKF3_core.h.

Referenced by getAccelBias(), getFilterFaults(), getRangeBeaconDebug(), InitialiseFilterBootstrap(), SelectMagFusion(), SelectTasFusion(), UpdateFilter(), writeBodyFrameOdom(), and writeWheelOdom().

◆ stateStruct

struct NavEKF3_core::state_elements & NavEKF3_core::stateStruct

private

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

◆ storedBaro

obs_ring_buffer_t<baro_elements> NavEKF3_core::storedBaro

private

Definition at line 821 of file AP_NavEKF3_core.h.

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

◆ storedBodyOdm

obs_ring_buffer_t<vel_odm_elements> NavEKF3_core::storedBodyOdm

private

Definition at line 1069 of file AP_NavEKF3_core.h.

Referenced by InitialiseVariables(), SelectBodyOdomFusion(), setup_core(), and writeBodyFrameOdom().

◆ storedGPS

obs_ring_buffer_t<gps_elements> NavEKF3_core::storedGPS

private

Definition at line 819 of file AP_NavEKF3_core.h.

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

◆ storedIMU

imu_ring_buffer_t<imu_elements> NavEKF3_core::storedIMU

private

Definition at line 818 of file AP_NavEKF3_core.h.

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

◆ storedMag

obs_ring_buffer_t<mag_elements> NavEKF3_core::storedMag

private

Definition at line 820 of file AP_NavEKF3_core.h.

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

◆ storedOF

obs_ring_buffer_t<of_elements> NavEKF3_core::storedOF

private

Definition at line 1009 of file AP_NavEKF3_core.h.

Referenced by SelectFlowFusion(), setup_core(), and writeOptFlowMeas().

◆ storedOutput

imu_ring_buffer_t<output_elements> NavEKF3_core::storedOutput

private

Definition at line 824 of file AP_NavEKF3_core.h.

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

◆ storedRange

obs_ring_buffer_t<range_elements> NavEKF3_core::storedRange

private

Definition at line 823 of file AP_NavEKF3_core.h.

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

◆ storedRangeBeacon

obs_ring_buffer_t<rng_bcn_elements> NavEKF3_core::storedRangeBeacon

private

Definition at line 1090 of file AP_NavEKF3_core.h.

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

◆ storedRngMeas

float NavEKF3_core::storedRngMeas[2][3]

private

Definition at line 1061 of file AP_NavEKF3_core.h.

Referenced by InitialiseVariables(), and readRangeFinder().

◆ storedRngMeasTime_ms

uint32_t NavEKF3_core::storedRngMeasTime_ms[2][3]

private

Definition at line 1062 of file AP_NavEKF3_core.h.

Referenced by InitialiseVariables(), and readRangeFinder().

◆ storedTAS

obs_ring_buffer_t<tas_elements> NavEKF3_core::storedTAS

private

Definition at line 822 of file AP_NavEKF3_core.h.

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

◆ storedWheelOdm

obs_ring_buffer_t<wheel_odm_elements> NavEKF3_core::storedWheelOdm

private

Definition at line 1084 of file AP_NavEKF3_core.h.

Referenced by InitialiseVariables(), SelectBodyOdomFusion(), setup_core(), and writeWheelOdom().

◆ takeOffDetected

bool NavEKF3_core::takeOffDetected

private

Definition at line 1145 of file AP_NavEKF3_core.h.

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

◆ takeoffExpectedSet_ms

uint32_t NavEKF3_core::takeoffExpectedSet_ms

private

Definition at line 1151 of file AP_NavEKF3_core.h.

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

◆ tasDataDelayed

tas_elements NavEKF3_core::tasDataDelayed

private

Definition at line 911 of file AP_NavEKF3_core.h.

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

◆ tasDataNew

tas_elements NavEKF3_core::tasDataNew

private

Definition at line 910 of file AP_NavEKF3_core.h.

Referenced by readAirSpdData(), and SelectTasFusion().

◆ tasDataToFuse

bool NavEKF3_core::tasDataToFuse

private

Definition at line 856 of file AP_NavEKF3_core.h.

Referenced by readAirSpdData(), and SelectTasFusion().

◆ tasHealth

bool NavEKF3_core::tasHealth

private

Definition at line 804 of file AP_NavEKF3_core.h.

Referenced by FuseAirspeed().

◆ tasStoreIndex

uint8_t NavEKF3_core::tasStoreIndex

private

Definition at line 912 of file AP_NavEKF3_core.h.

Referenced by InitialiseVariables().

◆ tasTestRatio

float NavEKF3_core::tasTestRatio

private

Definition at line 877 of file AP_NavEKF3_core.h.

Referenced by FuseAirspeed(), and getVariances().

◆ tasTimeout

bool NavEKF3_core::tasTimeout

private

Definition at line 809 of file AP_NavEKF3_core.h.

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

◆ Tbn_flow

Matrix3f NavEKF3_core::Tbn_flow

private

Definition at line 1022 of file AP_NavEKF3_core.h.

Referenced by writeOptFlowMeas().

◆ terrainHgtStable

bool NavEKF3_core::terrainHgtStable

private

Definition at line 1065 of file AP_NavEKF3_core.h.

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

◆ terrainHgtStableSet_ms

uint32_t NavEKF3_core::terrainHgtStableSet_ms

private

Definition at line 1066 of file AP_NavEKF3_core.h.

Referenced by InitialiseVariables(), and setTerrainHgtStable().

◆ terrainState

float NavEKF3_core::terrainState

private

Definition at line 1026 of file AP_NavEKF3_core.h.

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

◆ testRatio

float NavEKF3_core::testRatio

Definition at line 1137 of file AP_NavEKF3_core.h.

◆ tiltAlignComplete

bool NavEKF3_core::tiltAlignComplete

private

Definition at line 894 of file AP_NavEKF3_core.h.

Referenced by checkAttitudeAlignmentStatus(), errorScore(), FuseVelPosNED(), InitialiseVariables(), readyToUseBodyOdm(), readyToUseGPS(), readyToUseOptFlow(), readyToUseRangeBeacon(), setWindMagStateLearningMode(), and updateFilterStatus().

◆ timeAtArming_ms

uint32_t NavEKF3_core::timeAtArming_ms

private

Definition at line 1147 of file AP_NavEKF3_core.h.

Referenced by controlFilterModes(), and detectOptFlowTakeoff().

◆ timeAtLastAuxEKF_ms

uint32_t NavEKF3_core::timeAtLastAuxEKF_ms

private

Definition at line 864 of file AP_NavEKF3_core.h.

Referenced by EstimateTerrainOffset(), and InitialiseVariables().

◆ timeTasReceived_ms

uint32_t NavEKF3_core::timeTasReceived_ms

private

Definition at line 925 of file AP_NavEKF3_core.h.

Referenced by InitialiseVariables(), and readAirSpdData().

◆ timing

struct ekf_timing NavEKF3_core::timing

private

Definition at line 1241 of file AP_NavEKF3_core.h.

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

◆ touchdownExpectedSet_ms

uint32_t NavEKF3_core::touchdownExpectedSet_ms

private

Definition at line 1153 of file AP_NavEKF3_core.h.

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

◆ useGpsVertVel

bool NavEKF3_core::useGpsVertVel

private

Definition at line 891 of file AP_NavEKF3_core.h.

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

◆ usingMinHypothesis

bool NavEKF3_core::usingMinHypothesis

private

Definition at line 1118 of file AP_NavEKF3_core.h.

Referenced by CalcRangeBeaconPosDownOffset().

◆ usingWheelSensors

bool NavEKF3_core::usingWheelSensors

private

Definition at line 1083 of file AP_NavEKF3_core.h.

Referenced by InitialiseVariables(), and SelectBodyOdomFusion().

◆ validOrigin

bool NavEKF3_core::validOrigin

private

Definition at line 884 of file AP_NavEKF3_core.h.

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

◆ varInnovBodyVel

Vector3 NavEKF3_core::varInnovBodyVel

private

Definition at line 1074 of file AP_NavEKF3_core.h.

Referenced by FuseBodyVel(), getBodyFrameOdomDebug(), and InitialiseVariables().

◆ varInnovMag

Vector3f NavEKF3_core::varInnovMag

private

Definition at line 845 of file AP_NavEKF3_core.h.

Referenced by FuseMagnetometer().

◆ varInnovOptFlow

Vector2 NavEKF3_core::varInnovOptFlow

private

Definition at line 1023 of file AP_NavEKF3_core.h.

Referenced by FuseOptFlow().

◆ varInnovRng

float NavEKF3_core::varInnovRng

private

Definition at line 1029 of file AP_NavEKF3_core.h.

Referenced by EstimateTerrainOffset().

◆ varInnovRngBcn

float NavEKF3_core::varInnovRngBcn

private

Definition at line 1098 of file AP_NavEKF3_core.h.

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

◆ varInnovVelPos

Vector6 NavEKF3_core::varInnovVelPos

private

Definition at line 840 of file AP_NavEKF3_core.h.

Referenced by FuseVelPosNED().

◆ varInnovVtas

ftype NavEKF3_core::varInnovVtas

private

Definition at line 847 of file AP_NavEKF3_core.h.

Referenced by FuseAirspeed().

◆ velDotNED

Vector3f NavEKF3_core::velDotNED

private

Definition at line 853 of file AP_NavEKF3_core.h.

Referenced by getAccelNED(), and UpdateStrapdownEquationsNED().

◆ velDotNEDfilt

Vector3f NavEKF3_core::velDotNEDfilt

private

Definition at line 854 of file AP_NavEKF3_core.h.

Referenced by InitialiseVariables(), and UpdateStrapdownEquationsNED().

◆ velErrintegral

Vector3f NavEKF3_core::velErrintegral

private

Definition at line 922 of file AP_NavEKF3_core.h.

Referenced by calcOutputStates(), and InitialiseVariables().

◆ velHealth

bool NavEKF3_core::velHealth

private

Definition at line 800 of file AP_NavEKF3_core.h.

Referenced by FuseVelPosNED().

◆ velOffsetNED

Vector3f NavEKF3_core::velOffsetNED

private

Definition at line 964 of file AP_NavEKF3_core.h.

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

◆ velResetNE

Vector2f NavEKF3_core::velResetNE

private

Definition at line 939 of file AP_NavEKF3_core.h.

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

◆ velResetSource

resetDataSource NavEKF3_core::velResetSource

private

Definition at line 981 of file AP_NavEKF3_core.h.

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

◆ velTestRatio

float NavEKF3_core::velTestRatio

private

Definition at line 873 of file AP_NavEKF3_core.h.

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

◆ velTimeout

bool NavEKF3_core::velTimeout

private

Definition at line 805 of file AP_NavEKF3_core.h.

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

◆ wheelOdmDataDelayed

wheel_odm_elements NavEKF3_core::wheelOdmDataDelayed

private

Definition at line 1086 of file AP_NavEKF3_core.h.

Referenced by getBodyFrameOdomDebug(), and SelectBodyOdomFusion().

◆ wheelOdmDataNew

wheel_odm_elements NavEKF3_core::wheelOdmDataNew

private

Definition at line 1085 of file AP_NavEKF3_core.h.

Referenced by writeWheelOdom().

◆ wheelOdmMeasTime_ms

uint32_t NavEKF3_core::wheelOdmMeasTime_ms

private

Definition at line 1082 of file AP_NavEKF3_core.h.

Referenced by InitialiseVariables(), readyToUseBodyOdm(), and writeWheelOdom().

◆ yawAlignComplete

bool NavEKF3_core::yawAlignComplete

private

Definition at line 895 of file AP_NavEKF3_core.h.

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

◆ yawInnovAtLastMagReset

float NavEKF3_core::yawInnovAtLastMagReset

private

Definition at line 1163 of file AP_NavEKF3_core.h.

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

◆ yawResetAngle

float NavEKF3_core::yawResetAngle

private

Definition at line 892 of file AP_NavEKF3_core.h.

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

◆ yawTestRatio

float NavEKF3_core::yawTestRatio

private

Definition at line 943 of file AP_NavEKF3_core.h.

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

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

libraries/AP_NavEKF3/AP_NavEKF3_core.h
libraries/AP_NavEKF3/AP_NavEKF3_AirDataFusion.cpp
libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp
libraries/AP_NavEKF3/AP_NavEKF3_core.cpp
libraries/AP_NavEKF3/AP_NavEKF3_GyroBias.cpp
libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp
libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp
libraries/AP_NavEKF3/AP_NavEKF3_OptFlowFusion.cpp
libraries/AP_NavEKF3/AP_NavEKF3_Outputs.cpp
libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp
libraries/AP_NavEKF3/AP_NavEKF3_RngBcnFusion.cpp
libraries/AP_NavEKF3/AP_NavEKF3_VehicleStatus.cpp

Classes

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

◆ ftype

◆ Matrix24

◆ Matrix3

◆ Matrix34_50

◆ Vector10

◆ Vector11

◆ Vector13

◆ Vector14

◆ Vector15

◆ Vector2

◆ Vector21

◆ Vector22

◆ Vector23

◆ Vector24

◆ Vector25

◆ Vector28

◆ Vector3

◆ Vector4

◆ Vector5

◆ Vector6

◆ Vector7

◆ Vector8

◆ Vector9

◆ Vector_u32_50

Member Enumeration Documentation

◆ AidingMode

◆ resetDataSource

Constructor & Destructor Documentation

◆ NavEKF3_core()

Member Function Documentation

◆ alignMagStateDeclination()

◆ assume_zero_sideslip()

◆ calcEarthRateNED()

◆ calcFiltBaroOffset()

◆ calcGpsGoodForFlight()

◆ calcGpsGoodToAlign()

◆ calcIMU_Weighting()

◆ calcOutputStates()

◆ calcQuatAndFieldStates()

◆ CalcRangeBeaconPosDownOffset()

◆ calcRotVecVariances()

◆ checkAttitudeAlignmentStatus()

◆ checkDivergence()

◆ checkGyroCalStatus()

◆ ConstrainStates()

◆ ConstrainVariances()

◆ controlFilterModes()

◆ controlMagYawReset()

◆ correctDeltaAngle()

◆ correctDeltaVelocity()

◆ correctEkfOriginHeight()

◆ CovarianceInit()

◆ CovariancePrediction()

◆ detectFlight()

◆ detectOptFlowTakeoff()

◆ effective_magCal()

◆ errorScore()

◆ EstimateTerrainOffset()

◆ ForceSymmetry()

◆ FuseAirspeed()

◆ FuseBodyVel()

◆ FuseDeclination()

◆ fuseEulerYaw()

◆ FuseMagnetometer()

◆ FuseOptFlow()

◆ FuseRngBcn()

◆ FuseRngBcnStatic()

◆ FuseSideslip()

◆ FuseVelPosNED()

◆ getAccelBias()

◆ getAccelNED()

◆ getActiveMag()

◆ getBodyFrameOdomDebug()