diff options
Diffstat (limited to 'apps/examples/kalman_demo/KalmanNav.hpp')
| -rw-r--r-- | apps/examples/kalman_demo/KalmanNav.hpp | 23 |
1 files changed, 13 insertions, 10 deletions
diff --git a/apps/examples/kalman_demo/KalmanNav.hpp b/apps/examples/kalman_demo/KalmanNav.hpp index d7068beec..da1a7ee10 100644 --- a/apps/examples/kalman_demo/KalmanNav.hpp +++ b/apps/examples/kalman_demo/KalmanNav.hpp @@ -83,18 +83,23 @@ public: */ void update(); + /** - * Fast prediction - * Contains: state integration + * Publication update */ virtual void updatePublications(); - void predictFast(float dt); /** - * Slow prediction - * Contains: covariance integration + * State prediction + * Continuous, non-linear + */ + void predictState(float dt); + + /** + * State covariance prediction + * Continuous, linear */ - void predictSlow(float dt); + void predictStateCovariance(float dt); /** * Attitude correction @@ -133,15 +138,13 @@ protected: control::UOrbPublication<vehicle_attitude_s> _att; /**< attitude pub. */ // time stamps uint64_t _pubTimeStamp; /**< output data publication time stamp */ - uint64_t _fastTimeStamp; /**< fast prediction time stamp */ - uint64_t _slowTimeStamp; /**< slow prediction time stamp */ + uint64_t _predictTimeStamp; /**< prediction time stamp */ uint64_t _attTimeStamp; /**< attitude correction time stamp */ uint64_t _outTimeStamp; /**< output time stamp */ // frame count uint16_t _navFrames; /**< navigation frames completed in output cycle */ // miss counts - uint16_t _missFast; /**< number of times fast prediction loop missed */ - uint16_t _missSlow; /**< number of times slow prediction loop missed */ + uint16_t _miss; /**< number of times fast prediction loop missed */ // accelerations float fN, fE, fD; /**< navigation frame acceleration */ // states |