diff options
Diffstat (limited to 'src/modules/ekf_att_pos_estimator/estimator_utilities.h')
-rw-r--r-- | src/modules/ekf_att_pos_estimator/estimator_utilities.h | 82 |
1 files changed, 82 insertions, 0 deletions
diff --git a/src/modules/ekf_att_pos_estimator/estimator_utilities.h b/src/modules/ekf_att_pos_estimator/estimator_utilities.h new file mode 100644 index 000000000..d47568b62 --- /dev/null +++ b/src/modules/ekf_att_pos_estimator/estimator_utilities.h @@ -0,0 +1,82 @@ +#include <math.h> +#include <stdint.h> + +#pragma once + +#define GRAVITY_MSS 9.80665f +#define deg2rad 0.017453292f +#define rad2deg 57.295780f +#define pi 3.141592657f +#define earthRate 0.000072921f +#define earthRadius 6378145.0 +#define earthRadiusInv 1.5678540e-7 + +class Vector3f +{ +private: +public: + float x; + float y; + float z; + + float length(void) const; + void zero(void); +}; + +class Mat3f +{ +private: +public: + Vector3f x; + Vector3f y; + Vector3f z; + + Mat3f(); + + void identity(); + Mat3f transpose(void) const; +}; + +Vector3f operator*(float sclIn1, Vector3f vecIn1); +Vector3f operator+( Vector3f vecIn1, Vector3f vecIn2); +Vector3f operator-( Vector3f vecIn1, Vector3f vecIn2); +Vector3f operator*( Mat3f matIn, Vector3f vecIn); +Vector3f operator%( Vector3f vecIn1, Vector3f vecIn2); +Vector3f operator*(Vector3f vecIn1, float sclIn1); + +void swap_var(float &d1, float &d2); + +enum GPS_FIX { + GPS_FIX_NOFIX = 0, + GPS_FIX_2D = 2, + GPS_FIX_3D = 3 +}; + +struct ekf_status_report { + bool error; + bool velHealth; + bool posHealth; + bool hgtHealth; + bool velTimeout; + bool posTimeout; + bool hgtTimeout; + bool imuTimeout; + uint32_t velFailTime; + uint32_t posFailTime; + uint32_t hgtFailTime; + float states[32]; + unsigned n_states; + bool angNaN; + bool summedDelVelNaN; + bool KHNaN; + bool KHPNaN; + bool PNaN; + bool covarianceNaN; + bool kalmanGainsNaN; + bool statesNaN; + bool gyroOffsetsExcessive; + bool covariancesExcessive; + bool velOffsetExcessive; +}; + +void ekf_debug(const char *fmt, ...);
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