insgps.h File Reference

Include file of the INSGPS exposed functionality. More...

#include "stdint.h"
#include "stdbool.h"

Go to the source code of this file.

Macros
#define	POS_SENSORS   0x007
#define	HORIZ_POS_SENSORS   0x003
#define	VERT_POS_SENSORS   0x004
#define	HORIZ_VEL_SENSORS   0x018
#define	VERT_VEL_SENSORS   0x020
#define	MAG_SENSORS   0x1C0
#define	BARO_SENSOR   0x200
#define	FULL_SENSORS   0x3FF

Functions
void	INSGPSInit ()
	Reset the internal state variables and variances. More...
void	INSStatePrediction (const float gyro_data[3], const float accel_data[3], float dT)
	Compute an update of the state estimate. More...
void	INSCovariancePrediction (float dT)
	Compute an update of the state covariance. More...
void	INSCorrection (const float mag_data[3], const float Pos[3], const float Vel[3], float BaroAlt, uint16_t SensorsUsed)
	Correct the state and covariance estimate based on the sensors that were updated. More...
void	INSGetState (float *pos, float *vel, float *attitude, float *gyro_bias, float *accel_bias)
	Get the current state estimate. More...
void	INSSetArmed (bool armed)
	Set the current flight state. More...
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	INSSetPosVelVar (float PosVar, float VelVar, float VertPosVar)
void	INSSetGyroBias (const float gyro_bias[3])
void	INSSetAccelBias (const float gyro_bias[3])
void	INSSetAccelVar (const float accel_var[3])
void	INSSetGyroVar (const float gyro_var[3])
void	INSSetMagNorth (const float B[3])
void	INSSetMagVar (const float scaled_mag_var[3])
void	INSSetBaroVar (float baro_var)
void	INSPosVelReset (const float pos[3], const float vel[3])
void	INSGetVariance (float *p)
uint16_t	ins_get_num_states ()

Detailed Description

Include file of the INSGPS exposed functionality.

Author

The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.

Tau Labs, http://taulabs.org, Copyright (C) 2012-2013

See Also

The GNU Public License (GPL) Version 3

Definition in file insgps.h.