mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-12-02 10:24:11 +01:00
78 lines
2.4 KiB
C
78 lines
2.4 KiB
C
|
/**
|
||
|
|
******************************************************************************
|
||
|
|
* @addtogroup OpenPilotModules OpenPilot Modules
|
||
|
|
* @{
|
||
|
|
* @addtogroup StateSetimation Module
|
||
|
|
* @{
|
||
|
|
*
|
||
|
|
* @file stateestimation.h
|
||
|
|
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
|
||
|
|
* @brief Acquires sensor data and fuses it into attitude estimate for CC
|
||
|
|
*
|
||
|
|
* @see The GNU Public License (GPL) Version 3
|
||
|
|
*
|
||
|
|
*****************************************************************************/
|
||
|
|
/*
|
||
|
|
* This program is free software; you can redistribute it and/or modify
|
||
|
|
* it under the terms of the GNU General Public License as published by
|
||
|
|
* the Free Software Foundation; either version 3 of the License, or
|
||
|
|
* (at your option) any later version.
|
||
|
|
*
|
||
|
|
* This program is distributed in the hope that it will be useful, but
|
||
|
|
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||
|
|
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||
|
|
* for more details.
|
||
|
|
*
|
||
|
|
* You should have received a copy of the GNU General Public License along
|
||
|
|
* with this program; if not, write to the Free Software Foundation, Inc.,
|
||
|
|
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||
|
|
*/
|
||
|
|
#ifndef STATEESTIMATION_H
|
||
|
|
#define STATEESTIMATION_H
|
||
|
|
|
||
|
|
#include <openpilot.h>
|
||
|
|
|
||
|
|
typedef enum {
|
||
|
|
gyr_UPDATED = 1 << 0,
|
||
|
|
acc_UPDATED = 1 << 1,
|
||
|
|
mag_UPDATED = 1 << 2,
|
||
|
|
pos_UPDATED = 1 << 3,
|
||
|
|
vel_UPDATED = 1 << 4,
|
||
|
|
air_UPDATED = 1 << 5,
|
||
|
|
bar_UPDATED = 1 << 6,
|
||
|
|
} sensorUpdates;
|
||
|
|
|
||
|
|
typedef struct {
|
||
|
|
float gyr[3];
|
||
|
|
float acc[3];
|
||
|
|
float mag[3];
|
||
|
|
float pos[3];
|
||
|
|
float vel[3];
|
||
|
|
float air[2];
|
||
|
|
float bar[1];
|
||
|
|
sensorUpdates updated;
|
||
|
|
} stateEstimation;
|
||
|
|
|
||
|
|
#define ISSET(bitfield, bit) ((bitfield) & (bit) ? 1 : 0)
|
||
|
|
#define UNSET(bitfield, bit) (bitfield) &= ~(bit)
|
||
|
|
|
||
|
|
|
||
|
|
typedef struct stateFilterStruct {
|
||
|
|
int32_t (*init)(void);
|
||
|
|
int32_t (*filter)(stateEstimation *state);
|
||
|
|
} stateFilter;
|
||
|
|
|
||
|
|
|
||
|
|
void filterMagInitialize(stateFilter *handle);
|
||
|
|
void filterBaroInitialize(stateFilter *handle);
|
||
|
|
void filterAirInitialize(stateFilter *handle);
|
||
|
|
void filterStationaryInitialize(stateFilter *handle);
|
||
|
|
void filterCFInitialize(stateFilter *handle);
|
||
|
|
void filterCFMInitialize(stateFilter *handle);
|
||
|
|
void filterEKF13iInitialize(stateFilter *handle);
|
||
|
|
void filterEKF13Initialize(stateFilter *handle);
|
||
|
|
void filterEKF16iInitialize(stateFilter *handle);
|
||
|
|
void filterEKF16Initialize(stateFilter *handle);
|
||
|
|
|
||
|
|
#endif // STATEESTIMATION_H
|