#include "insgps.h"
#include "physical_constants.h"
#include <math.h>
#include <stdint.h>

Go to the source code of this file.

Macros
#define	NUMX 14

#define	NUMW 10

#define	NUMV 10

#define	NUMU 6

Functions
void	CovariancePrediction (float F[NUMX][NUMX], float G[NUMX][NUMW], float Q[NUMW], float dT, float P[NUMX][NUMX])

void	SerialUpdate (float H[NUMV][NUMX], float R[NUMV], float Z[NUMV], float Y[NUMV], float P[NUMX][NUMX], float X[NUMX], uint16_t SensorsUsed)

void	RungeKutta (float X[NUMX], float U[NUMU], float dT)

void	StateEq (float X[NUMX], float U[NUMU], float Xdot[NUMX])

void	LinearizeFG (float X[NUMX], float U[NUMU], float F[NUMX][NUMX], float G[NUMX][NUMW])

void	MeasurementEq (float X[NUMX], float Be[3], float Y[NUMV])

void	LinearizeH (float X[NUMX], float Be[3], float H[NUMV][NUMX])

uint16_t	ins_get_num_states ()

void	INSGPSInit ()

void	INSSetArmed (bool armed)
	Set the current flight state. More...

void	INSGetState (float pos, float vel, float attitude, float gyro_bias, float *accel_bias)

void	INSGetVariance (float *var_out)

void	INSResetP (const float *PDiag)

void	INSSetState (const float pos[3], const float vel[3], const float q[4], const float gyro_bias[3], const float accel_bias[3])

void	INSPosVelReset (const float pos[3], const float vel[3])

void	INSSetPosVelVar (float PosVar, float VelVar, float VertPosVar)

void	INSSetGyroBias (const float gyro_bias[3])

void	INSSetAccelBias (const float accel_bias[3])

void	INSSetAccelVar (const float accel_var[3])

void	INSSetGyroVar (const float gyro_var[3])

void	INSSetMagVar (const float scaled_mag_var[3])

void	INSSetBaroVar (const float baro_var)

void	INSSetMagNorth (const float B[3])

void	INSLimitBias ()

void	INSStatePrediction (const float gyro_data[3], const float accel_data[3], float dT)

void	INSCovariancePrediction (float dT)

void	INSCorrection (const float mag_data[3], const float Pos[3], const float Vel[3], float BaroAlt, uint16_t SensorsUsed)

Variables
float	F [NUMX][NUMX]

float	G [NUMX][NUMW]

float	H [NUMV][NUMX]

float	Be [3]

float	P [NUMX][NUMX]

float	X [NUMX]

float	Q [NUMW]

float	R [NUMV]

float	K [NUMX][NUMV]

Macros

Functions

Variables