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/****************************************************************************
* Copyright (c) 2014, Paul Riseborough All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* Redistributions of source code must retain the above copyright notice, this
* list of conditions and the following disclaimer.
*
* Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
*
* Neither the name of the {organization} nor the names of its contributors
* may be used to endorse or promote products derived from this software without
* specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
****************************************************************************/
/**
* @file estimator_utilities.h
*
* Estimator support utilities.
*
* @author Paul Riseborough <p_riseborough@live.com.au>
* @author Lorenz Meier <lorenz@px4.io>
*/
#pragma once
#include <math.h>
#include <stdint.h>
#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;
Vector3f(float a=0.0f, float b=0.0f, float c=0.0f) :
x(a),
y(b),
z(c)
{}
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);
Mat3f operator*( Mat3f matIn1, Mat3f matIn2);
Vector3f operator%( Vector3f vecIn1, Vector3f vecIn2);
Vector3f operator*(Vector3f vecIn1, float sclIn1);
Vector3f operator/(const Vector3f &vec, const float scalar);
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;
bool onGround;
bool staticMode;
bool useCompass;
bool useAirspeed;
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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