mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-11-29 07:24:13 +01:00
101 lines
3.3 KiB
C
101 lines
3.3 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>
|
|
|
|
|
|
// Enumeration for filter result
|
|
typedef enum {
|
|
FILTERRESULT_UNINITIALISED = -1,
|
|
FILTERRESULT_OK = 0,
|
|
FILTERRESULT_WARNING = 1,
|
|
FILTERRESULT_CRITICAL = 2,
|
|
FILTERRESULT_ERROR = 3,
|
|
} filterResult;
|
|
|
|
|
|
typedef enum {
|
|
SENSORUPDATES_gyro = 1 << 0,
|
|
SENSORUPDATES_accel = 1 << 1,
|
|
SENSORUPDATES_mag = 1 << 2,
|
|
SENSORUPDATES_boardMag = 1 << 10,
|
|
SENSORUPDATES_auxMag = 1 << 9,
|
|
SENSORUPDATES_attitude = 1 << 3,
|
|
SENSORUPDATES_pos = 1 << 4,
|
|
SENSORUPDATES_vel = 1 << 5,
|
|
SENSORUPDATES_airspeed = 1 << 6,
|
|
SENSORUPDATES_baro = 1 << 7,
|
|
SENSORUPDATES_lla = 1 << 8,
|
|
} sensorUpdates;
|
|
|
|
#define MAGSTATUS_OK 1
|
|
#define MAGSTATUS_AUX 2
|
|
#define MAGSTATUS_INVALID 0
|
|
typedef struct {
|
|
float gyro[3];
|
|
float accel[3];
|
|
float mag[3];
|
|
float attitude[4];
|
|
float pos[3];
|
|
float vel[3];
|
|
float airspeed[2];
|
|
float baro[1];
|
|
float auxMag[3];
|
|
uint8_t magStatus;
|
|
float boardMag[3];
|
|
sensorUpdates updated;
|
|
} stateEstimation;
|
|
|
|
typedef struct stateFilterStruct {
|
|
int32_t (*init)(struct stateFilterStruct *self);
|
|
filterResult (*filter)(struct stateFilterStruct *self, stateEstimation *state);
|
|
void *localdata;
|
|
} stateFilter;
|
|
|
|
|
|
int32_t filterMagInitialize(stateFilter *handle);
|
|
int32_t filterBaroiInitialize(stateFilter *handle);
|
|
int32_t filterBaroInitialize(stateFilter *handle);
|
|
int32_t filterVelocityInitialize(stateFilter *handle);
|
|
int32_t filterAltitudeInitialize(stateFilter *handle);
|
|
int32_t filterAirInitialize(stateFilter *handle);
|
|
int32_t filterStationaryInitialize(stateFilter *handle);
|
|
int32_t filterLLAInitialize(stateFilter *handle);
|
|
int32_t filterCFInitialize(stateFilter *handle);
|
|
int32_t filterCFMInitialize(stateFilter *handle);
|
|
int32_t filterEKF13iInitialize(stateFilter *handle);
|
|
int32_t filterEKF13Initialize(stateFilter *handle);
|
|
int32_t filterEKF16iInitialize(stateFilter *handle);
|
|
int32_t filterEKF16Initialize(stateFilter *handle);
|
|
|
|
#endif // STATEESTIMATION_H
|