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