ekf2_main.cpp File Reference

Implementation of the attitude and position estimator. More...

#include <float.h>
#include <drivers/drv_hrt.h>
#include <lib/ecl/EKF/ekf.h>
#include <lib/mathlib/mathlib.h>
#include <lib/perf/perf_counter.h>
#include <px4_platform_common/defines.h>
#include <px4_platform_common/module.h>
#include <px4_platform_common/module_params.h>
#include <px4_platform_common/posix.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <px4_platform_common/time.h>
#include <uORB/Publication.hpp>
#include <uORB/PublicationMulti.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/SubscriptionCallback.hpp>
#include <uORB/topics/airspeed.h>
#include <uORB/topics/distance_sensor.h>
#include <uORB/topics/ekf2_innovations.h>
#include <uORB/topics/ekf2_timestamps.h>
#include <uORB/topics/ekf_gps_position.h>
#include <uORB/topics/estimator_status.h>
#include <uORB/topics/ekf_gps_drift.h>
#include <uORB/topics/landing_target_pose.h>
#include <uORB/topics/optical_flow.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/sensor_bias.h>
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/sensor_selection.h>
#include <uORB/topics/vehicle_air_data.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vehicle_gps_position.h>
#include <uORB/topics/vehicle_land_detected.h>
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/vehicle_magnetometer.h>
#include <uORB/topics/vehicle_odometry.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/wind_estimate.h>
#include "Utility/PreFlightChecker.hpp"

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Classes
class	Ekf2

Macros
#define	BLEND_MASK_USE_SPD_ACC   1
#define	BLEND_MASK_USE_HPOS_ACC   2
#define	BLEND_MASK_USE_VPOS_ACC   4
#define	GPS_MAX_RECEIVERS   2
#define	GPS_BLENDED_INSTANCE   2

Functions
__EXPORT int	ekf2_main (int argc, char *argv[])

Detailed Description

Implementation of the attitude and position estimator.

Author

Roman Bapst

Definition in file ekf2_main.cpp.

Macro Definition Documentation

BLEND_MASK_USE_HPOS_ACC

#define BLEND_MASK_USE_HPOS_ACC   2

Definition at line 85 of file ekf2_main.cpp.

Referenced by Ekf2::blend_gps_data().

BLEND_MASK_USE_SPD_ACC

#define BLEND_MASK_USE_SPD_ACC   1

Definition at line 84 of file ekf2_main.cpp.

Referenced by Ekf2::blend_gps_data().

BLEND_MASK_USE_VPOS_ACC

#define BLEND_MASK_USE_VPOS_ACC   4

Definition at line 86 of file ekf2_main.cpp.

Referenced by Ekf2::blend_gps_data().

GPS_BLENDED_INSTANCE

#define GPS_BLENDED_INSTANCE   2

Definition at line 90 of file ekf2_main.cpp.

Referenced by Ekf2::calc_gps_blend_output().

GPS_MAX_RECEIVERS

#define GPS_MAX_RECEIVERS   2

Definition at line 89 of file ekf2_main.cpp.

Referenced by Ekf2::apply_gps_offsets(), Ekf2::blend_gps_data(), Ekf2::calc_gps_blend_output(), Ekf2::update_gps_blend_states(), and Ekf2::update_gps_offsets().

Function Documentation

ekf2_main()

__EXPORT int ekf2_main	(	int	argc,
		char *	argv[]
	)

Definition at line 2412 of file ekf2_main.cpp.

References main().

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