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Code Issues Releases Activity

fake filter for stationary position data added

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Corvus Corax 2013-05-19 22:49:11 +02:00
parent bf80b3f103
commit 46e7d2121f
1 changed files with 75 additions and 0 deletions
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flight/modules/StateEstimation/filterstationary.c Normal file
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/**
******************************************************************************
* @addtogroup OpenPilotModules OpenPilot Modules
* @{
* @addtogroup State Estimation
* @brief Acquires sensor data and computes state estimate
* @{
*
* @file filterstationary.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2013.
* @brief Provides "fake" stationary state data for indoor mode
*
* @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
*/
#include "inc/stateestimation.h"
// Private constants
// Private types
// Private variables
// Private functions
static int32_t init(void);
static int32_t filter(stateEstimation *state);
void filterStationaryInitialize(stateFilter *handle)
{
handle->init = &init;
handle->filter = &filter;
}
static int32_t init(void)
{
return 0;
}
static int32_t filter(stateEstimation *state)
{
state->pos[0] = 0.0f;
state->pos[1] = 0.0f;
state->pos[2] = 0.0f;
state->updated |= pos_UPDATED;
state->vel[0] = 0.0f;
state->vel[1] = 0.0f;
state->vel[2] = 0.0f;
state->updated |= vel_UPDATED;
return 0;
}
/**
* @}
* @}
*/