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author | Lorenz Meier <lm@inf.ethz.ch> | 2014-02-01 12:09:54 +0100 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-02-01 12:09:54 +0100 |
commit | 70ffa27acd6b5cd276e45d8c029ea743c32b2bc7 (patch) | |
tree | cd03fb26ee2c8a1abd9a62bfbb94044a8a9d176b /src/modules/fw_att_pos_estimator/estimator.h | |
parent | dba229ffa5fbdd6e7863f528412be429a84837ac (diff) | |
download | px4-firmware-70ffa27acd6b5cd276e45d8c029ea743c32b2bc7.tar.gz px4-firmware-70ffa27acd6b5cd276e45d8c029ea743c32b2bc7.tar.bz2 px4-firmware-70ffa27acd6b5cd276e45d8c029ea743c32b2bc7.zip |
Rewrote the filter mainloop to match the order in the offboard simulator, added a number of scaling fixes, initializing all structs correctly
Diffstat (limited to 'src/modules/fw_att_pos_estimator/estimator.h')
-rw-r--r-- | src/modules/fw_att_pos_estimator/estimator.h | 7 |
1 files changed, 3 insertions, 4 deletions
diff --git a/src/modules/fw_att_pos_estimator/estimator.h b/src/modules/fw_att_pos_estimator/estimator.h index a7dd08a93..2a0e43bb5 100644 --- a/src/modules/fw_att_pos_estimator/estimator.h +++ b/src/modules/fw_att_pos_estimator/estimator.h @@ -110,7 +110,6 @@ extern float EAS2TAS; // ratio f true to equivalent airspeed // GPS input data variables extern float gpsCourse; -extern float gpsGndSpd; extern float gpsVelD; extern float gpsLat; extern float gpsLon; @@ -122,7 +121,7 @@ extern float baroHgt; extern bool statesInitialised; -const float covTimeStepMax = 0.07f; // maximum time allowed between covariance predictions +const float covTimeStepMax = 0.02f; // maximum time allowed between covariance predictions const float covDelAngMax = 0.05f; // maximum delta angle between covariance predictions void UpdateStrapdownEquationsNED(); @@ -144,7 +143,7 @@ float sq(float valIn); void quatNorm(float quatOut[4], float quatIn[4]); // store staes along with system time stamp in msces -void StoreStates(); +void StoreStates(uint64_t timestamp_ms); // recall stste vector stored at closest time to the one specified by msec void RecallStates(float statesForFusion[n_states], uint32_t msec); @@ -169,7 +168,7 @@ void OnGroundCheck(); void CovarianceInit(); -void InitialiseFilter(); +void InitialiseFilter(float initvelNED[3]); uint32_t millis(); |