#include <terrain_estimator.h>

Collaboration diagram for TerrainEstimator:

Public Member Functions
	TerrainEstimator ()

	~TerrainEstimator ()=default

bool	is_valid ()

float	get_distance_to_ground ()

float	get_velocity ()

void	predict (float dt, const struct vehicle_attitude_s attitude, const struct sensor_combined_s sensor, const struct distance_sensor_s *distance)

void	measurement_update (uint64_t time_ref, const struct vehicle_gps_position_s gps, const struct distance_sensor_s distance, const struct vehicle_attitude_s *attitude)

Private Types
enum	{ n_x = 3 }

Private Member Functions
bool	is_distance_valid (float distance)

Private Attributes
float	_distance_last

bool	_terrain_valid

matrix::Vector< float, n_x >	_x

float	_u_z

matrix::Matrix< float, 3, 3 >	_P

uint64_t	_time_last_distance

uint64_t	_time_last_gps

Detailed Description

Definition at line 59 of file terrain_estimator.h.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum

private

Enumerator
n_x

Definition at line 76 of file terrain_estimator.h.

Constructor & Destructor Documentation

◆ TerrainEstimator()

TerrainEstimator::TerrainEstimator ( )

Definition at line 45 of file terrain_estimator.cpp.

References _P, _u_z, _x, matrix::Matrix< Type, M, N >::setIdentity(), and matrix::Matrix< Type, M, N >::zero().

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◆ ~TerrainEstimator()

TerrainEstimator::~TerrainEstimator ( )

default

Member Function Documentation

◆ get_distance_to_ground()

float TerrainEstimator::get_distance_to_ground ( )

inline

Definition at line 66 of file terrain_estimator.h.

◆ get_velocity()

float TerrainEstimator::get_velocity ( )

inline

Definition at line 67 of file terrain_estimator.h.

References attitude, dt, and gps.

◆ is_distance_valid()

bool TerrainEstimator::is_distance_valid ( float distance )

private

Definition at line 56 of file terrain_estimator.cpp.

References f().

Referenced by measurement_update().

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◆ is_valid()

bool TerrainEstimator::is_valid ( )

inline

Definition at line 65 of file terrain_estimator.h.

◆ measurement_update()

void TerrainEstimator::measurement_update	(	uint64_t	time_ref,
		const struct vehicle_gps_position_s *	gps,
		const struct distance_sensor_s *	distance,
		const struct vehicle_attitude_s *	attitude
	)

Definition at line 100 of file terrain_estimator.cpp.

References _distance_last, _P, _terrain_valid, _time_last_distance, _time_last_gps, _x, distance_sensor_s::current_distance, DISTANCE_TIMEOUT, vehicle_gps_position_s::fix_type, is_distance_valid(), n_x, matrix::Euler< Type >::phi(), vehicle_attitude_s::q, matrix::Matrix< Type, M, N >::setZero(), matrix::Euler< Type >::theta(), vehicle_gps_position_s::timestamp, distance_sensor_s::timestamp, matrix::Matrix< Type, M, N >::transpose(), vehicle_gps_position_s::vel_d_m_s, and matrix::Matrix< Type, M, N >::zero().

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◆ predict()

void TerrainEstimator::predict	(	float	dt,
		const struct vehicle_attitude_s *	attitude,
		const struct sensor_combined_s *	sensor,
		const struct distance_sensor_s *	distance
	)