#include <estimator_interface.h>

Inheritance diagram for EstimatorInterface:

Collaboration diagram for EstimatorInterface:

Classes
struct	_gps_pos_prev

struct	_pos_ref

Public Types
typedef AlphaFilter< Vector3f >	AlphaFilterVector3f

Public Member Functions
	EstimatorInterface ()=default

virtual	~EstimatorInterface ()=default

virtual bool	init (uint64_t timestamp)=0

virtual void	reset (uint64_t timestamp)=0

virtual void	resetStates ()=0

virtual void	resetStatesAndCovariances ()=0

virtual bool	update ()=0

virtual void	get_vel_pos_innov (float vel_pos_innov[6])=0

virtual void	get_aux_vel_innov (float aux_vel_innov[2])=0

virtual void	get_mag_innov (float mag_innov[3])=0

virtual void	get_airspeed_innov (float *airspeed_innov)=0

virtual void	get_beta_innov (float *beta_innov)=0

virtual void	get_heading_innov (float *heading_innov)=0

virtual void	get_vel_pos_innov_var (float vel_pos_innov_var[6])=0

virtual void	get_mag_innov_var (float mag_innov_var[3])=0

virtual void	get_airspeed_innov_var (float *get_airspeed_innov_var)=0

virtual void	get_beta_innov_var (float *get_beta_innov_var)=0

virtual void	get_heading_innov_var (float *heading_innov_var)=0

virtual void	get_state_delayed (float *state)=0

virtual void	get_wind_velocity (float *wind)=0

virtual void	get_wind_velocity_var (float *wind_var)=0

virtual void	get_true_airspeed (float *tas)=0

virtual void	get_vel_var (Vector3f &vel_var)=0

virtual void	get_pos_var (Vector3f &pos_var)=0

virtual void	get_flow_innov_var (float flow_innov_var[2])=0

virtual void	get_flow_innov (float flow_innov[2])=0

virtual void	get_drag_innov_var (float drag_innov_var[2])=0

virtual void	get_drag_innov (float drag_innov[2])=0

virtual void	getHaglInnovVar (float *hagl_innov_var)=0

virtual void	getHaglInnov (float *hagl_innov)=0

void	get_hagl_innov_var (float *hagl_innov_var)

void	get_hagl_innov (float *hagl_innov)

virtual void	get_output_tracking_error (float error[3])=0

virtual void	get_imu_vibe_metrics (float vibe[3])=0

virtual bool	get_gps_drift_metrics (float drift[3], bool *blocked)=0

virtual bool	get_ekf_origin (uint64_t origin_time, map_projection_reference_s origin_pos, float *origin_alt)=0

virtual void	get_ekf_gpos_accuracy (float ekf_eph, float ekf_epv)=0

virtual void	get_ekf_lpos_accuracy (float ekf_eph, float ekf_epv)=0

virtual void	get_ekf_vel_accuracy (float ekf_evh, float ekf_evv)=0

virtual void	get_ekf_ctrl_limits (float vxy_max, float vz_max, float hagl_min, float hagl_max)=0

virtual bool	collect_gps (const gps_message &gps)=0

virtual bool	collect_imu (const imuSample &imu)=0

void	setIMUData (const imuSample &imu_sample)

void	setIMUData (uint64_t time_usec, uint64_t delta_ang_dt, uint64_t delta_vel_dt, float(&delta_ang)[3], float(&delta_vel)[3])

void	setMagData (uint64_t time_usec, float(&data)[3])

void	setGpsData (uint64_t time_usec, const gps_message &gps)

void	setBaroData (uint64_t time_usec, float data)

void	setAirspeedData (uint64_t time_usec, float true_airspeed, float eas2tas)

void	setRangeData (uint64_t time_usec, float data, int8_t quality)

void	setOpticalFlowData (uint64_t time_usec, flow_message *flow)

void	setExtVisionData (uint64_t time_usec, ext_vision_message *evdata)

void	setAuxVelData (uint64_t time_usec, float(&data)[2], float(&variance)[2])

parameters *	getParamHandle ()

void	set_in_air_status (bool in_air)

virtual bool	reset_imu_bias ()=0

bool	attitude_valid ()

bool	get_in_air_status ()

bool	get_wind_status ()

void	set_is_fixed_wing (bool is_fixed_wing)

void	set_fuse_beta_flag (bool fuse_beta)

void	set_gnd_effect_flag (bool gnd_effect)

void	set_air_density (float air_density)

void	set_rangefinder_limits (float min_distance, float max_distance)

void	set_optical_flow_limits (float max_flow_rate, float min_distance, float max_distance)

virtual bool	global_position_is_valid ()=0

bool	inertial_dead_reckoning ()

virtual bool	isTerrainEstimateValid () const =0

bool	get_terrain_valid ()

virtual void	getTerrainVertPos (float *ret)=0

void	get_terrain_vert_pos (float *ret)

bool	local_position_is_valid ()

const matrix::Quatf &	get_quaternion () const

virtual void	get_ev2ekf_quaternion (float *quat)=0

void	get_velocity (float *vel)

void	get_vel_deriv_ned (float *vel_deriv)

void	get_pos_d_deriv (float *pos_d_deriv)

void	get_position (float *pos)

void	copy_timestamp (uint64_t *time_us)

bool	get_mag_decl_deg (float *val)

virtual void	get_accel_bias (float bias[3])=0

virtual void	get_gyro_bias (float bias[3])=0

void	get_control_mode (uint32_t *val)

void	get_filter_fault_status (uint16_t *val)

bool	isVehicleAtRest () const

virtual void	get_gps_check_status (uint16_t *val)=0

virtual void	get_posD_reset (float delta, uint8_t counter)=0

virtual void	get_velD_reset (float delta, uint8_t counter)=0

virtual void	get_posNE_reset (float delta[2], uint8_t *counter)=0

virtual void	get_velNE_reset (float delta[2], uint8_t *counter)=0

virtual void	get_quat_reset (float delta_quat[4], uint8_t *counter)=0

virtual void	get_innovation_test_status (uint16_t status, float mag, float vel, float pos, float hgt, float tas, float hagl, float beta)=0

virtual void	get_ekf_soln_status (uint16_t *status)=0

float	get_dt_imu_avg () const

imuSample	get_imu_sample_delayed ()

baroSample	get_baro_sample_delayed ()

void	print_status ()

Static Public Attributes
static constexpr unsigned	FILTER_UPDATE_PERIOD_MS {8}

static constexpr float	FILTER_UPDATE_PERIOD_S {FILTER_UPDATE_PERIOD_MS * 0.001f}

Protected Member Functions
bool	initialise_interface (uint64_t timestamp)

void	unallocate_buffers ()

Vector3f	cross_product (const Vector3f &vecIn1, const Vector3f &vecIn2)

Matrix3f	quat_to_invrotmat (const Quatf &quat)

Protected Attributes
parameters	_params

uint8_t	_obs_buffer_length {0}

uint8_t	_imu_buffer_length {0}

unsigned	_min_obs_interval_us {0}

float	_dt_imu_avg {0.0f}

imuSample	_imu_sample_delayed {}

magSample	_mag_sample_delayed {}

baroSample	_baro_sample_delayed {}

gpsSample	_gps_sample_delayed {}

rangeSample	_range_sample_delayed {}

airspeedSample	_airspeed_sample_delayed {}

flowSample	_flow_sample_delayed {}

extVisionSample	_ev_sample_delayed {}

dragSample	_drag_sample_delayed {}

dragSample	_drag_down_sampled {}

auxVelSample	_auxvel_sample_delayed {}

uint8_t	_drag_sample_count {0}

float	_drag_sample_time_dt {0.0f}

float	_air_density {CONSTANTS_AIR_DENSITY_SEA_LEVEL_15C}

float	_rng_valid_min_val {0.0f}
	minimum distance that the rangefinder can measure (m) More...

float	_rng_valid_max_val {0.0f}
	maximum distance that the rangefinder can measure (m) More...

float	_flow_max_rate {0.0f}
	maximum angular flow rate that the optical flow sensor can measure (rad/s) More...

float	_flow_min_distance {0.0f}
	minimum distance that the optical flow sensor can operate at (m) More...

float	_flow_max_distance {0.0f}
	maximum distance that the optical flow sensor can operate at (m) More...

outputSample	_output_sample_delayed {}

outputSample	_output_new {}

outputVert	_output_vert_delayed {}

outputVert	_output_vert_new {}

imuSample	_imu_sample_new {}

Matrix3f	_R_to_earth_now

Vector3f	_vel_imu_rel_body_ned

Vector3f	_vel_deriv_ned

bool	_imu_updated {false}

bool	_initialised {false}

bool	_NED_origin_initialised {false}

bool	_gps_speed_valid {false}

float	_gps_origin_eph {0.0f}

float	_gps_origin_epv {0.0f}

float	_gps_alt_prev {0.0f}

float	_gps_yaw_offset {0.0f}

float	_yaw_test_ratio {0.0f}

float	_mag_test_ratio [3] {}

float	_vel_pos_test_ratio [6] {}

float	_tas_test_ratio {0.0f}

float	_terr_test_ratio {0.0f}

float	_beta_test_ratio {0.0f}

float	_drag_test_ratio [2] {}

innovation_fault_status_u	_innov_check_fail_status {}

bool	_is_dead_reckoning {false}

bool	_deadreckon_time_exceeded {true}

bool	_is_wind_dead_reckoning {false}

Vector3f	_delta_ang_prev

Vector3f	_delta_vel_prev

float	_vibe_metrics [3] {}

float	_gps_drift_metrics [3] {}

bool	_vehicle_at_rest {false}

uint64_t	_time_last_move_detect_us {0}

bool	_gps_drift_updated {false}

RingBuffer< imuSample >	_imu_buffer

RingBuffer< gpsSample >	_gps_buffer

RingBuffer< magSample >	_mag_buffer

RingBuffer< baroSample >	_baro_buffer

RingBuffer< rangeSample >	_range_buffer

RingBuffer< airspeedSample >	_airspeed_buffer

RingBuffer< flowSample >	_flow_buffer

RingBuffer< extVisionSample >	_ext_vision_buffer

RingBuffer< outputSample >	_output_buffer

RingBuffer< outputVert >	_output_vert_buffer

RingBuffer< dragSample >	_drag_buffer

RingBuffer< auxVelSample >	_auxvel_buffer

bool	_gps_buffer_fail {false}

bool	_mag_buffer_fail {false}

bool	_baro_buffer_fail {false}

bool	_range_buffer_fail {false}

bool	_airspeed_buffer_fail {false}

bool	_flow_buffer_fail {false}

bool	_ev_buffer_fail {false}

bool	_drag_buffer_fail {false}

bool	_auxvel_buffer_fail {false}

uint64_t	_time_last_imu {0}

uint64_t	_time_last_gps {0}

uint64_t	_time_last_mag {0}

uint64_t	_time_last_baro {0}

uint64_t	_time_last_range {0}

uint64_t	_time_last_airspeed {0}

uint64_t	_time_last_ext_vision {0}

uint64_t	_time_last_optflow {0}

uint64_t	_time_last_gnd_effect_on {0}

uint64_t	_time_last_auxvel {0}

fault_status_u	_fault_status {}

float	_mag_declination_gps {0.0f}

float	_mag_inclination_gps {0.0f}

float	_mag_strength_gps {0.0f}

filter_control_status_u	_control_status {}

filter_control_status_u	_control_status_prev {}

Detailed Description

Definition at line 55 of file estimator_interface.h.

Member Typedef Documentation

◆ AlphaFilterVector3f

typedef AlphaFilter<Vector3f> EstimatorInterface::AlphaFilterVector3f

Definition at line 59 of file estimator_interface.h.

Constructor & Destructor Documentation

◆ EstimatorInterface()

EstimatorInterface::EstimatorInterface ( )

default

◆ ~EstimatorInterface()

virtual EstimatorInterface::~EstimatorInterface ( )

virtualdefault

Member Function Documentation

◆ attitude_valid()

bool EstimatorInterface::attitude_valid ( )

inline

Definition at line 228 of file estimator_interface.h.

References ISFINITE.

Referenced by Ekf2::publish_attitude(), and TEST_F().

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◆ collect_gps()

virtual bool EstimatorInterface::collect_gps ( const gps_message & gps )

pure virtual

Implemented in Ekf.

Referenced by setGpsData().

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◆ collect_imu()

virtual bool EstimatorInterface::collect_imu ( const imuSample & imu )

pure virtual

Implemented in Ekf.

Referenced by setIMUData().

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◆ copy_timestamp()

void EstimatorInterface::copy_timestamp ( uint64_t * time_us )

inline

Definition at line 328 of file estimator_interface.h.

◆ cross_product()

Vector3f EstimatorInterface::cross_product	(	const Vector3f &	vecIn1,
		const Vector3f &	vecIn2
	)

protected

Definition at line 1347 of file ekf_helper.cpp.

Referenced by Ekf::calculateOutputStates(), Ekf::controlExternalVisionFusion(), Ekf::controlGpsFusion(), Ekf::fuseFlowForTerrain(), Ekf::fuseOptFlow(), and setIMUData().

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◆ get_accel_bias()

virtual void EstimatorInterface::get_accel_bias ( float bias[3] )

pure virtual

Implemented in Ekf.

◆ get_airspeed_innov()

virtual void EstimatorInterface::get_airspeed_innov ( float * airspeed_innov )

pure virtual

Implemented in Ekf.

◆ get_airspeed_innov_var()

virtual void EstimatorInterface::get_airspeed_innov_var ( float * get_airspeed_innov_var )

pure virtual

Implemented in Ekf.

◆ get_aux_vel_innov()

virtual void EstimatorInterface::get_aux_vel_innov ( float aux_vel_innov[2] )

pure virtual

Implemented in Ekf.

◆ get_baro_sample_delayed()

baroSample EstimatorInterface::get_baro_sample_delayed ( )

inline

Definition at line 403 of file estimator_interface.h.

References print_status().

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◆ get_beta_innov()

virtual void EstimatorInterface::get_beta_innov ( float * beta_innov )

pure virtual

Implemented in Ekf.

◆ get_beta_innov_var()

virtual void EstimatorInterface::get_beta_innov_var ( float * get_beta_innov_var )

pure virtual

Implemented in Ekf.

◆ get_control_mode()

void EstimatorInterface::get_control_mode ( uint32_t * val )

inline

Definition at line 352 of file estimator_interface.h.

Referenced by Ekf2::Run(), and TEST_F().

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◆ get_drag_innov()

virtual void EstimatorInterface::get_drag_innov ( float drag_innov[2] )

pure virtual

Implemented in Ekf.

◆ get_drag_innov_var()

virtual void EstimatorInterface::get_drag_innov_var ( float drag_innov_var[2] )

pure virtual

Implemented in Ekf.

◆ get_dt_imu_avg()

float EstimatorInterface::get_dt_imu_avg ( ) const

inline

Definition at line 394 of file estimator_interface.h.

◆ get_ekf_ctrl_limits()

virtual void EstimatorInterface::get_ekf_ctrl_limits	(	float *	vxy_max,
		float *	vz_max,
		float *	hagl_min,
		float *	hagl_max
	)

pure virtual

Implemented in Ekf.

◆ get_ekf_gpos_accuracy()

virtual void EstimatorInterface::get_ekf_gpos_accuracy	(	float *	ekf_eph,
		float *	ekf_epv
	)

pure virtual

Implemented in Ekf.

◆ get_ekf_lpos_accuracy()

virtual void EstimatorInterface::get_ekf_lpos_accuracy	(	float *	ekf_eph,
		float *	ekf_epv
	)

pure virtual

Implemented in Ekf.

◆ get_ekf_origin()

virtual bool EstimatorInterface::get_ekf_origin	(	uint64_t *	origin_time,
		map_projection_reference_s *	origin_pos,
		float *	origin_alt
	)

pure virtual

Implemented in Ekf.

◆ get_ekf_soln_status()

virtual void EstimatorInterface::get_ekf_soln_status ( uint16_t * status )

pure virtual

Implemented in Ekf.

◆ get_ekf_vel_accuracy()

virtual void EstimatorInterface::get_ekf_vel_accuracy	(	float *	ekf_evh,
		float *	ekf_evv
	)

pure virtual

Implemented in Ekf.

◆ get_ev2ekf_quaternion()

virtual void EstimatorInterface::get_ev2ekf_quaternion ( float * quat )

pure virtual

Implemented in Ekf.

◆ get_filter_fault_status()

void EstimatorInterface::get_filter_fault_status ( uint16_t * val )

inline

Definition at line 358 of file estimator_interface.h.

Referenced by Ekf2::Run().

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◆ get_flow_innov()

virtual void EstimatorInterface::get_flow_innov ( float flow_innov[2] )

pure virtual

Implemented in Ekf.

◆ get_flow_innov_var()

virtual void EstimatorInterface::get_flow_innov_var ( float flow_innov_var[2] )

pure virtual

Implemented in Ekf.

◆ get_gps_check_status()

virtual void EstimatorInterface::get_gps_check_status ( uint16_t * val )

pure virtual

Implemented in Ekf.

◆ get_gps_drift_metrics()

virtual bool EstimatorInterface::get_gps_drift_metrics	(	float	drift[3],
		bool *	blocked
	)

pure virtual

Implemented in Ekf.

◆ get_gyro_bias()

virtual void EstimatorInterface::get_gyro_bias ( float bias[3] )

pure virtual

Implemented in Ekf.

◆ get_hagl_innov()

void EstimatorInterface::get_hagl_innov ( float * hagl_innov )

inline

Definition at line 136 of file estimator_interface.h.

References data, and gps.

Referenced by Ekf2::Run().

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◆ get_hagl_innov_var()

void EstimatorInterface::get_hagl_innov_var ( float * hagl_innov_var )

inline

Definition at line 134 of file estimator_interface.h.

Referenced by Ekf2::Run().

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◆ get_heading_innov()

virtual void EstimatorInterface::get_heading_innov ( float * heading_innov )

pure virtual

Implemented in Ekf.

◆ get_heading_innov_var()

virtual void EstimatorInterface::get_heading_innov_var ( float * heading_innov_var )

pure virtual

Implemented in Ekf.

◆ get_imu_sample_delayed()

imuSample EstimatorInterface::get_imu_sample_delayed ( )

inline

Definition at line 397 of file estimator_interface.h.

Referenced by TEST_P().

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◆ get_imu_vibe_metrics()

virtual void EstimatorInterface::get_imu_vibe_metrics ( float vibe[3] )

pure virtual

Implemented in Ekf.

◆ get_in_air_status()

bool EstimatorInterface::get_in_air_status ( )

inline

Definition at line 231 of file estimator_interface.h.

◆ get_innovation_test_status()

virtual void EstimatorInterface::get_innovation_test_status	(	uint16_t *	status,
		float *	mag,
		float *	vel,
		float *	pos,
		float *	hgt,
		float *	tas,
		float *	hagl,
		float *	beta
	)

pure virtual

Implemented in Ekf.

◆ get_mag_decl_deg()

bool EstimatorInterface::get_mag_decl_deg ( float * val )

inline

Definition at line 336 of file estimator_interface.h.

References math::degrees(), and MASK_SAVE_GEO_DECL.

Referenced by Ekf2::update_mag_decl().

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◆ get_mag_innov()

virtual void EstimatorInterface::get_mag_innov ( float mag_innov[3] )

pure virtual

Implemented in Ekf.

◆ get_mag_innov_var()

virtual void EstimatorInterface::get_mag_innov_var ( float mag_innov_var[3] )

pure virtual

Implemented in Ekf.

◆ get_output_tracking_error()

virtual void EstimatorInterface::get_output_tracking_error ( float error[3] )

pure virtual

Implemented in Ekf.

◆ get_pos_d_deriv()

void EstimatorInterface::get_pos_d_deriv ( float * pos_d_deriv )

inline

Definition at line 311 of file estimator_interface.h.

Referenced by Ekf2::Run().

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◆ get_pos_var()

virtual void EstimatorInterface::get_pos_var ( Vector3f & pos_var )

pure virtual

Implemented in Ekf.

◆ get_posD_reset()

virtual void EstimatorInterface::get_posD_reset	(	float *	delta,
		uint8_t *	counter
	)

pure virtual

Implemented in Ekf.

◆ get_position()

void EstimatorInterface::get_position ( float * pos )

inline

Definition at line 318 of file estimator_interface.h.

Referenced by Ekf2::Run(), and TEST_F().

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◆ get_posNE_reset()

virtual void EstimatorInterface::get_posNE_reset	(	float	delta[2],
		uint8_t *	counter
	)

pure virtual

Implemented in Ekf.

◆ get_quat_reset()

virtual void EstimatorInterface::get_quat_reset	(	float	delta_quat[4],
		uint8_t *	counter
	)

pure virtual

Implemented in Ekf.

◆ get_quaternion()

const matrix::Quatf& EstimatorInterface::get_quaternion ( ) const

inline

Definition at line 287 of file estimator_interface.h.

Referenced by Ekf2::get_vel_body_wind(), and Ekf2::Run().

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◆ get_state_delayed()

virtual void EstimatorInterface::get_state_delayed ( float * state )

pure virtual

Implemented in Ekf.

◆ get_terrain_valid()

bool EstimatorInterface::get_terrain_valid ( )

inline

Definition at line 277 of file estimator_interface.h.

Referenced by Ekf2::Run().

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◆ get_terrain_vert_pos()

void EstimatorInterface::get_terrain_vert_pos ( float * ret )

inline

Definition at line 282 of file estimator_interface.h.

Referenced by Ekf2::Run().

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◆ get_true_airspeed()

virtual void EstimatorInterface::get_true_airspeed ( float * tas )

pure virtual

Implemented in Ekf.

◆ get_vel_deriv_ned()

void EstimatorInterface::get_vel_deriv_ned ( float * vel_deriv )

inline

Definition at line 303 of file estimator_interface.h.

Referenced by Ekf2::Run().

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◆ get_vel_pos_innov()

virtual void EstimatorInterface::get_vel_pos_innov ( float vel_pos_innov[6] )

pure virtual

Implemented in Ekf.

◆ get_vel_pos_innov_var()

virtual void EstimatorInterface::get_vel_pos_innov_var ( float vel_pos_innov_var[6] )

pure virtual

Implemented in Ekf.

◆ get_vel_var()

virtual void EstimatorInterface::get_vel_var ( Vector3f & vel_var )

pure virtual

Implemented in Ekf.

◆ get_velD_reset()

virtual void EstimatorInterface::get_velD_reset	(	float *	delta,
		uint8_t *	counter
	)

pure virtual

Implemented in Ekf.

◆ get_velNE_reset()

virtual void EstimatorInterface::get_velNE_reset	(	float	delta[2],
		uint8_t *	counter
	)

pure virtual

Implemented in Ekf.

◆ get_velocity()

void EstimatorInterface::get_velocity ( float * vel )

inline

Definition at line 293 of file estimator_interface.h.

Referenced by Ekf2::get_vel_body_wind(), Ekf2::Run(), and TEST_F().

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◆ get_wind_status()

bool EstimatorInterface::get_wind_status ( )

inline

Definition at line 234 of file estimator_interface.h.

Referenced by Ekf2::publish_wind_estimate().

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◆ get_wind_velocity()

virtual void EstimatorInterface::get_wind_velocity ( float * wind )

pure virtual

Implemented in Ekf.

◆ get_wind_velocity_var()

virtual void EstimatorInterface::get_wind_velocity_var ( float * wind_var )

pure virtual

Implemented in Ekf.

◆ getHaglInnov()

virtual void EstimatorInterface::getHaglInnov ( float * hagl_innov )

pure virtual

Implemented in Ekf.

◆ getHaglInnovVar()

virtual void EstimatorInterface::getHaglInnovVar ( float * hagl_innov_var )

pure virtual

Implemented in Ekf.

◆ getParamHandle()

parameters* EstimatorInterface::getParamHandle ( )

inline

Definition at line 215 of file estimator_interface.h.

◆ getTerrainVertPos()

virtual void EstimatorInterface::getTerrainVertPos ( float * ret )

pure virtual

Implemented in Ekf.

◆ global_position_is_valid()

virtual bool EstimatorInterface::global_position_is_valid ( )

pure virtual

Implemented in Ekf.

Referenced by print_status().

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◆ inertial_dead_reckoning()

bool EstimatorInterface::inertial_dead_reckoning ( )

inline

Definition at line 273 of file estimator_interface.h.

Referenced by Ekf2::Run().

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◆ init()

virtual bool EstimatorInterface::init ( uint64_t timestamp )

pure virtual

Implemented in Ekf.

Referenced by setIMUData().

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◆ initialise_interface()

bool EstimatorInterface::initialise_interface ( uint64_t timestamp )

protected

Definition at line 492 of file estimator_interface.cpp.

Referenced by Ekf::init().

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◆ isTerrainEstimateValid()

virtual bool EstimatorInterface::isTerrainEstimateValid ( ) const

pure virtual

Implemented in Ekf.

◆ isVehicleAtRest()

bool EstimatorInterface::isVehicleAtRest ( ) const

inline

Definition at line 363 of file estimator_interface.h.

References counter, and status.

◆ local_position_is_valid()

bool EstimatorInterface::local_position_is_valid ( )

Definition at line 564 of file estimator_interface.cpp.

References _deadreckon_time_exceeded.

Referenced by Ekf2::print_status(), print_status(), and Ekf2::Run().

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◆ print_status()

void EstimatorInterface::print_status ( )

Definition at line 570 of file estimator_interface.cpp.

References _airspeed_buffer, _baro_buffer, _drag_buffer, _ext_vision_buffer, _flow_buffer, _gps_buffer, _imu_buffer, _mag_buffer, _output_buffer, _output_vert_buffer, _range_buffer, ECL_INFO, RingBuffer< data_type >::get_length(), RingBuffer< data_type >::get_total_size(), global_position_is_valid(), and local_position_is_valid().

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◆ quat_to_invrotmat()

Matrix3f EstimatorInterface::quat_to_invrotmat ( const Quatf & quat )

protected

Definition at line 1358 of file ekf_helper.cpp.

Referenced by Ekf::fuseDrag(), Ekf::fuseFlowForTerrain(), Ekf::fuseMag(), Ekf::fuseOptFlow(), and Ekf::fuseSideslip().

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◆ reset()

virtual void EstimatorInterface::reset ( uint64_t timestamp )

pure virtual

Implemented in Ekf.

◆ reset_imu_bias()

virtual bool EstimatorInterface::reset_imu_bias ( )

pure virtual

Implemented in Ekf.

◆ resetStates()

virtual void EstimatorInterface::resetStates ( )

pure virtual

Implemented in Ekf.

◆ resetStatesAndCovariances()

virtual void EstimatorInterface::resetStatesAndCovariances ( )

pure virtual

Implemented in Ekf.

◆ set_air_density()

void EstimatorInterface::set_air_density ( float air_density )

inline

Definition at line 252 of file estimator_interface.h.

Referenced by Ekf2::Run().

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◆ set_fuse_beta_flag()

void EstimatorInterface::set_fuse_beta_flag ( bool fuse_beta )

inline

Definition at line 240 of file estimator_interface.h.

Referenced by Ekf2::Run().

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◆ set_gnd_effect_flag()

void EstimatorInterface::set_gnd_effect_flag ( bool gnd_effect )

inline

Definition at line 245 of file estimator_interface.h.

Referenced by Ekf2::Run().

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◆ set_in_air_status()

void EstimatorInterface::set_in_air_status ( bool in_air )

inline

Definition at line 218 of file estimator_interface.h.

Referenced by Ekf2::Run().

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◆ set_is_fixed_wing()

void EstimatorInterface::set_is_fixed_wing ( bool is_fixed_wing )

inline

Definition at line 237 of file estimator_interface.h.

References is_fixed_wing().

Referenced by Ekf2::Run().

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◆ set_optical_flow_limits()

void EstimatorInterface::set_optical_flow_limits	(	float	max_flow_rate,
		float	min_distance,
		float	max_distance
	)

inline

Definition at line 262 of file estimator_interface.h.

Referenced by Ekf2::Run().

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◆ set_rangefinder_limits()

void EstimatorInterface::set_rangefinder_limits	(	float	min_distance,
		float	max_distance
	)

inline

Definition at line 255 of file estimator_interface.h.

Referenced by Ekf2::Run().

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◆ setAirspeedData()

void EstimatorInterface::setAirspeedData	(	uint64_t	time_usec,
		float	true_airspeed,
		float	eas2tas
	)

Definition at line 287 of file estimator_interface.cpp.

References _airspeed_buffer, _airspeed_buffer_fail, _initialised, _min_obs_interval_us, _obs_buffer_length, _params, _time_last_airspeed, estimator::parameters::airspeed_delay_ms, RingBuffer< data_type >::allocate(), estimator::airspeedSample::eas2tas, ECL_ERR_TIMESTAMPED, FILTER_UPDATE_PERIOD_MS, RingBuffer< data_type >::get_length(), RingBuffer< data_type >::push(), estimator::airspeedSample::time_us, and estimator::airspeedSample::true_airspeed.

Referenced by Ekf2::Run().

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◆ setAuxVelData()

void EstimatorInterface::setAuxVelData	(	uint64_t	time_usec,
		float(&)	data[2],
		float(&)	variance[2]
	)

Definition at line 459 of file estimator_interface.cpp.

References _auxvel_buffer, _auxvel_buffer_fail, _initialised, _min_obs_interval_us, _obs_buffer_length, _params, _time_last_auxvel, RingBuffer< data_type >::allocate(), estimator::parameters::auxvel_delay_ms, data, ECL_ERR_TIMESTAMPED, FILTER_UPDATE_PERIOD_MS, RingBuffer< data_type >::get_length(), RingBuffer< data_type >::push(), estimator::auxVelSample::time_us, estimator::auxVelSample::velNE, and estimator::auxVelSample::velVarNE.

Referenced by Ekf2::Run().

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◆ setBaroData()

void EstimatorInterface::setBaroData	(	uint64_t	time_usec,
		float	data
	)

Definition at line 254 of file estimator_interface.cpp.

References _baro_buffer, _baro_buffer_fail, _imu_sample_delayed, _initialised, _min_obs_interval_us, _obs_buffer_length, _params, _time_last_baro, RingBuffer< data_type >::allocate(), estimator::parameters::baro_delay_ms, data, ECL_ERR_TIMESTAMPED, FILTER_UPDATE_PERIOD_MS, RingBuffer< data_type >::get_length(), estimator::baroSample::hgt, math::max(), RingBuffer< data_type >::push(), estimator::imuSample::time_us, and estimator::baroSample::time_us.

Referenced by Ekf2::Run(), and EkfInitializationTest::update_with_const_sensors().

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◆ setExtVisionData()

void EstimatorInterface::setExtVisionData	(	uint64_t	time_usec,
		ext_vision_message *	evdata
	)

Definition at line 419 of file estimator_interface.cpp.

References _ev_buffer_fail, _ext_vision_buffer, _initialised, _min_obs_interval_us, _obs_buffer_length, _params, _time_last_ext_vision, RingBuffer< data_type >::allocate(), estimator::ext_vision_message::angErr, estimator::extVisionSample::angErr, ECL_ERR_TIMESTAMPED, estimator::parameters::ev_delay_ms, RingBuffer< data_type >::get_length(), estimator::ext_vision_message::hgtErr, estimator::extVisionSample::hgtErr, estimator::ext_vision_message::pos, estimator::extVisionSample::pos, estimator::ext_vision_message::posErr, estimator::extVisionSample::posErr, RingBuffer< data_type >::push(), estimator::ext_vision_message::quat, estimator::extVisionSample::quat, estimator::extVisionSample::time_us, estimator::ext_vision_message::vel, estimator::extVisionSample::vel, estimator::ext_vision_message::velErr, and estimator::extVisionSample::velErr.

Referenced by Ekf2::Run().

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◆ setGpsData()

void EstimatorInterface::setGpsData	(	uint64_t	time_usec,
		const gps_message &	gps
	)

Definition at line 193 of file estimator_interface.cpp.

Referenced by Ekf2::Run(), and EkfInitializationTest::update_with_const_sensors().

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◆ setIMUData() [1/2]

void EstimatorInterface::setIMUData ( const imuSample & imu_sample )

Definition at line 49 of file estimator_interface.cpp.

References _control_status, _delta_ang_prev, _delta_vel_prev, _drag_buffer, _drag_buffer_fail, _drag_down_sampled, _drag_sample_count, _drag_sample_time_dt, _dt_imu_avg, _imu_buffer_length, _initialised, _obs_buffer_length, _params, _time_last_imu, _time_last_move_detect_us, _vehicle_at_rest, _vibe_metrics, estimator::dragSample::accelXY, RingBuffer< data_type >::allocate(), collect_imu(), math::constrain(), cross_product(), estimator::imuSample::delta_ang, estimator::imuSample::delta_vel, estimator::imuSample::delta_vel_dt, dt, ECL_ERR_TIMESTAMPED, f(), estimator::filter_control_status_u::flags, estimator::parameters::fusion_mode, RingBuffer< data_type >::get_length(), estimator::filter_control_status_u::in_air, init(), estimator::parameters::is_moving_scaler, MASK_USE_DRAG, RingBuffer< data_type >::push(), estimator::imuSample::time_us, and estimator::dragSample::time_us.

Referenced by Ekf2::Run(), setIMUData(), TEST_P(), and EkfInitializationTest::update_with_const_sensors().

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◆ setIMUData() [2/2]

void EstimatorInterface::setIMUData	(	uint64_t	time_usec,
		uint64_t	delta_ang_dt,
		uint64_t	delta_vel_dt,
		float(&)	delta_ang[3],
		float(&)	delta_vel[3]
	)

Definition at line 146 of file estimator_interface.cpp.

References estimator::imuSample::delta_ang, estimator::imuSample::delta_ang_dt, estimator::imuSample::delta_vel, estimator::imuSample::delta_vel_dt, setIMUData(), and estimator::imuSample::time_us.

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◆ setMagData()

void EstimatorInterface::setMagData	(	uint64_t	time_usec,
		float(&)	data[3]
	)

Definition at line 161 of file estimator_interface.cpp.

References _initialised, _mag_buffer, _mag_buffer_fail, _min_obs_interval_us, _obs_buffer_length, _params, _time_last_mag, RingBuffer< data_type >::allocate(), data, ECL_ERR_TIMESTAMPED, FILTER_UPDATE_PERIOD_MS, RingBuffer< data_type >::get_length(), estimator::magSample::mag, estimator::parameters::mag_delay_ms, RingBuffer< data_type >::push(), and estimator::magSample::time_us.

Referenced by Ekf2::Run(), and EkfInitializationTest::update_with_const_sensors().

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◆ setOpticalFlowData()

void EstimatorInterface::setOpticalFlowData	(	uint64_t	time_usec,
		flow_message *	flow
	)

Definition at line 347 of file estimator_interface.cpp.

References _control_status, _flow_buffer, _flow_buffer_fail, _flow_max_rate, _imu_buffer_length, _initialised, _min_obs_interval_us, _params, _time_last_optflow, RingBuffer< data_type >::allocate(), estimator::flow_message::dt, estimator::flowSample::dt, ECL_ERR_TIMESTAMPED, estimator::filter_control_status_u::ev_pos, estimator::filter_control_status_u::ev_vel, f(), estimator::filter_control_status_u::flags, estimator::parameters::flow_delay_ms, estimator::parameters::flow_qual_min, estimator::flow_message::flowdata, estimator::flowSample::flowRadXY, RingBuffer< data_type >::get_length(), estimator::filter_control_status_u::gps, estimator::flow_message::gyrodata, estimator::flowSample::gyroXYZ, estimator::filter_control_status_u::in_air, RingBuffer< data_type >::push(), estimator::flow_message::quality, estimator::flowSample::quality, and estimator::flowSample::time_us.

Referenced by Ekf2::Run().

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◆ setRangeData()

void EstimatorInterface::setRangeData	(	uint64_t	time_usec,
		float	data,
		int8_t	quality
	)

Definition at line 317 of file estimator_interface.cpp.

References _initialised, _min_obs_interval_us, _obs_buffer_length, _params, _range_buffer, _range_buffer_fail, _time_last_range, RingBuffer< data_type >::allocate(), data, ECL_ERR_TIMESTAMPED, RingBuffer< data_type >::get_length(), RingBuffer< data_type >::push(), estimator::rangeSample::quality, estimator::parameters::range_delay_ms, estimator::rangeSample::rng, and estimator::rangeSample::time_us.

Referenced by Ekf2::Run().

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◆ unallocate_buffers()

void EstimatorInterface::unallocate_buffers ( )

protected

Definition at line 547 of file estimator_interface.cpp.

References _airspeed_buffer, _auxvel_buffer, _baro_buffer, _drag_buffer, _ext_vision_buffer, _flow_buffer, _gps_buffer, _imu_buffer, _mag_buffer, _output_buffer, _output_vert_buffer, _range_buffer, and RingBuffer< data_type >::unallocate().

Referenced by initialise_interface().

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◆ update()

virtual bool EstimatorInterface::update ( )

pure virtual

Implemented in Ekf.

Member Data Documentation

◆ _air_density

float EstimatorInterface::_air_density {CONSTANTS_AIR_DENSITY_SEA_LEVEL_15C}

protected

Definition at line 455 of file estimator_interface.h.

Referenced by Ekf::fuseDrag().

◆ _airspeed_buffer

RingBuffer<airspeedSample> EstimatorInterface::_airspeed_buffer

protected

Definition at line 521 of file estimator_interface.h.

Referenced by Ekf::controlFusionModes(), print_status(), setAirspeedData(), and unallocate_buffers().

◆ _airspeed_buffer_fail

bool EstimatorInterface::_airspeed_buffer_fail {false}

protected

Definition at line 534 of file estimator_interface.h.

Referenced by setAirspeedData().

◆ _airspeed_sample_delayed

airspeedSample EstimatorInterface::_airspeed_sample_delayed {}

protected

Definition at line 445 of file estimator_interface.h.

Referenced by Ekf::controlFusionModes(), Ekf::fuseAirspeed(), Ekf::resetWindCovariance(), and Ekf::resetWindStates().

◆ _auxvel_buffer

RingBuffer<auxVelSample> EstimatorInterface::_auxvel_buffer

protected

Definition at line 527 of file estimator_interface.h.

Referenced by Ekf::controlAuxVelFusion(), setAuxVelData(), and unallocate_buffers().

◆ _auxvel_buffer_fail

bool EstimatorInterface::_auxvel_buffer_fail {false}

protected

Definition at line 538 of file estimator_interface.h.

Referenced by setAuxVelData().

◆ _auxvel_sample_delayed

auxVelSample EstimatorInterface::_auxvel_sample_delayed {}

protected

Definition at line 450 of file estimator_interface.h.

Referenced by Ekf::controlAuxVelFusion().

◆ _baro_buffer

RingBuffer<baroSample> EstimatorInterface::_baro_buffer

protected

Definition at line 519 of file estimator_interface.h.

Referenced by Ekf::controlFusionModes(), Ekf::controlHeightSensorTimeouts(), Ekf::initialiseFilter(), print_status(), Ekf::resetHeight(), setBaroData(), and unallocate_buffers().

◆ _baro_buffer_fail

bool EstimatorInterface::_baro_buffer_fail {false}

protected

Definition at line 532 of file estimator_interface.h.

Referenced by setBaroData().

◆ _baro_sample_delayed

baroSample EstimatorInterface::_baro_sample_delayed {}

protected

Definition at line 442 of file estimator_interface.h.

Referenced by Ekf::controlFusionModes(), Ekf::controlHeightFusion(), Ekf::controlHeightSensorTimeouts(), Ekf::fuseVelPosHeight(), and Ekf::initialiseFilter().

◆ _beta_test_ratio

float EstimatorInterface::_beta_test_ratio {0.0f}

protected

Definition at line 492 of file estimator_interface.h.

Referenced by Ekf::fuseSideslip(), and Ekf::get_innovation_test_status().

◆ _control_status

filter_control_status_u EstimatorInterface::_control_status {}

protected

Definition at line 564 of file estimator_interface.h.

◆ _control_status_prev

filter_control_status_u EstimatorInterface::_control_status_prev {}

protected

Definition at line 567 of file estimator_interface.h.

Referenced by Ekf::controlFusionModes(), Ekf::controlHeightFusion(), and Ekf::reset().

◆ _deadreckon_time_exceeded

bool EstimatorInterface::_deadreckon_time_exceeded {true}

protected

Definition at line 497 of file estimator_interface.h.

Referenced by Ekf::global_position_is_valid(), local_position_is_valid(), and Ekf::update_deadreckoning_status().

◆ _delta_ang_prev

Vector3f EstimatorInterface::_delta_ang_prev

protected

Definition at line 501 of file estimator_interface.h.

Referenced by setIMUData().

◆ _delta_vel_prev

Vector3f EstimatorInterface::_delta_vel_prev

protected

Definition at line 502 of file estimator_interface.h.

Referenced by setIMUData().

◆ _drag_buffer

RingBuffer<dragSample> EstimatorInterface::_drag_buffer

protected

Definition at line 526 of file estimator_interface.h.

Referenced by Ekf::controlDragFusion(), print_status(), setIMUData(), and unallocate_buffers().

◆ _drag_buffer_fail

bool EstimatorInterface::_drag_buffer_fail {false}

protected

Definition at line 537 of file estimator_interface.h.

Referenced by setIMUData().

◆ _drag_down_sampled

dragSample EstimatorInterface::_drag_down_sampled {}

protected

Definition at line 449 of file estimator_interface.h.

Referenced by setIMUData().

◆ _drag_sample_count

uint8_t EstimatorInterface::_drag_sample_count {0}

protected

Definition at line 453 of file estimator_interface.h.

Referenced by setIMUData().

◆ _drag_sample_delayed

dragSample EstimatorInterface::_drag_sample_delayed {}

protected

Definition at line 448 of file estimator_interface.h.

Referenced by Ekf::controlDragFusion(), and Ekf::fuseDrag().

◆ _drag_sample_time_dt

float EstimatorInterface::_drag_sample_time_dt {0.0f}

protected

Definition at line 454 of file estimator_interface.h.

Referenced by setIMUData().

◆ _drag_test_ratio

float EstimatorInterface::_drag_test_ratio[2] {}

protected

Definition at line 493 of file estimator_interface.h.

Referenced by Ekf::fuseDrag().

◆ _dt_imu_avg

float EstimatorInterface::_dt_imu_avg {0.0f}

protected

Definition at line 436 of file estimator_interface.h.

Referenced by Ekf::calculate_quaternion(), Ekf::calculateOutputStates(), initialise_interface(), and setIMUData().

◆ _ev_buffer_fail

bool EstimatorInterface::_ev_buffer_fail {false}

protected

Definition at line 536 of file estimator_interface.h.

Referenced by setExtVisionData().

◆ _ev_sample_delayed

extVisionSample EstimatorInterface::_ev_sample_delayed {}

protected

Definition at line 447 of file estimator_interface.h.

Referenced by Ekf::calcExtVisRotMat(), Ekf::controlExternalVisionFusion(), Ekf::controlFusionModes(), Ekf::fuseHeading(), Ekf::fuseVelPosHeight(), Ekf::initialiseFilter(), Ekf::resetExtVisRotMat(), Ekf::resetHeight(), Ekf::resetMagHeading(), Ekf::resetPosition(), and Ekf::resetVelocity().

◆ _ext_vision_buffer

RingBuffer<extVisionSample> EstimatorInterface::_ext_vision_buffer

protected

Definition at line 523 of file estimator_interface.h.

Referenced by Ekf::controlExternalVisionFusion(), Ekf::controlFusionModes(), Ekf::controlHeightSensorTimeouts(), Ekf::initialiseFilter(), print_status(), Ekf::resetHeight(), setExtVisionData(), and unallocate_buffers().

◆ _fault_status

fault_status_u EstimatorInterface::_fault_status {}

protected

Definition at line 551 of file estimator_interface.h.

Referenced by Ekf::fixCovarianceErrors(), Ekf::fuseAirspeed(), Ekf::fuseDeclination(), Ekf::fuseGpsAntYaw(), Ekf::fuseHeading(), Ekf::fuseMag(), Ekf::fuseOptFlow(), Ekf::fuseSideslip(), Ekf::fuseVelPosHeight(), Ekf::get_ekf_soln_status(), initialise_interface(), and Ekf::reset().

◆ _flow_buffer

RingBuffer<flowSample> EstimatorInterface::_flow_buffer

protected

Definition at line 522 of file estimator_interface.h.

Referenced by Ekf::controlFusionModes(), print_status(), setOpticalFlowData(), and unallocate_buffers().

◆ _flow_buffer_fail

bool EstimatorInterface::_flow_buffer_fail {false}

protected

Definition at line 535 of file estimator_interface.h.

Referenced by setOpticalFlowData().

◆ _flow_max_distance

float EstimatorInterface::_flow_max_distance {0.0f}

protected

maximum distance that the optical flow sensor can operate at (m)

Definition at line 462 of file estimator_interface.h.

Referenced by Ekf::get_ekf_ctrl_limits().

◆ _flow_max_rate

float EstimatorInterface::_flow_max_rate {0.0f}

protected

maximum angular flow rate that the optical flow sensor can measure (rad/s)

Definition at line 460 of file estimator_interface.h.

Referenced by Ekf::controlOpticalFlowFusion(), Ekf::fuseOptFlow(), Ekf::get_ekf_ctrl_limits(), and setOpticalFlowData().

◆ _flow_min_distance

float EstimatorInterface::_flow_min_distance {0.0f}

protected

minimum distance that the optical flow sensor can operate at (m)

Definition at line 461 of file estimator_interface.h.

Referenced by Ekf::get_ekf_ctrl_limits().

◆ _flow_sample_delayed

flowSample EstimatorInterface::_flow_sample_delayed {}

protected

Definition at line 446 of file estimator_interface.h.

Referenced by Ekf::calcOptFlowBodyRateComp(), Ekf::calcOptFlowMeasVar(), Ekf::controlFusionModes(), Ekf::controlOpticalFlowFusion(), Ekf::fuseFlowForTerrain(), Ekf::fuseOptFlow(), and Ekf::resetVelocity().

◆ _gps_alt_prev

float EstimatorInterface::_gps_alt_prev {0.0f}

protected

Definition at line 483 of file estimator_interface.h.

Referenced by Ekf::gps_is_good().

◆ _gps_buffer

RingBuffer<gpsSample> EstimatorInterface::_gps_buffer

protected

Definition at line 517 of file estimator_interface.h.

Referenced by Ekf::controlFusionModes(), Ekf::controlHeightSensorTimeouts(), print_status(), Ekf::resetHeight(), setGpsData(), and unallocate_buffers().

◆ _gps_buffer_fail

bool EstimatorInterface::_gps_buffer_fail {false}

protected

Definition at line 530 of file estimator_interface.h.

Referenced by setGpsData().

◆ _gps_drift_metrics

float EstimatorInterface::_gps_drift_metrics[3] {}

protected

Definition at line 507 of file estimator_interface.h.

Referenced by Ekf::get_gps_drift_metrics(), and Ekf::gps_is_good().

◆ _gps_drift_updated

bool EstimatorInterface::_gps_drift_updated {false}

protected

Definition at line 513 of file estimator_interface.h.

Referenced by Ekf::get_gps_drift_metrics(), and Ekf::gps_is_good().

◆ _gps_origin_eph

float EstimatorInterface::_gps_origin_eph {0.0f}

protected

Definition at line 479 of file estimator_interface.h.

Referenced by Ekf::collect_gps(), and Ekf::get_ekf_gpos_accuracy().

◆ _gps_origin_epv

float EstimatorInterface::_gps_origin_epv {0.0f}

protected

Definition at line 480 of file estimator_interface.h.

Referenced by Ekf::collect_gps(), and Ekf::get_ekf_gpos_accuracy().

◆ _gps_sample_delayed

gpsSample EstimatorInterface::_gps_sample_delayed {}

protected

Definition at line 443 of file estimator_interface.h.

Referenced by Ekf::controlFusionModes(), Ekf::controlGpsFusion(), Ekf::controlHeightFusion(), Ekf::controlHeightSensorTimeouts(), Ekf::fuseGpsAntYaw(), Ekf::fuseVelPosHeight(), Ekf::initialiseCovariance(), Ekf::realignYawGPS(), Ekf::resetGpsAntYaw(), Ekf::resetPosition(), and Ekf::resetVelocity().

◆ _gps_speed_valid

bool EstimatorInterface::_gps_speed_valid {false}

protected

Definition at line 478 of file estimator_interface.h.

Referenced by Ekf::reset(), and setGpsData().

◆ _gps_yaw_offset

float EstimatorInterface::_gps_yaw_offset {0.0f}

protected

Definition at line 484 of file estimator_interface.h.

Referenced by Ekf::fuseGpsAntYaw(), Ekf::resetGpsAntYaw(), and setGpsData().

◆ _imu_buffer

RingBuffer<imuSample> EstimatorInterface::_imu_buffer

protected

Definition at line 516 of file estimator_interface.h.

Referenced by Ekf::collect_imu(), initialise_interface(), Ekf::initialiseFilter(), print_status(), and unallocate_buffers().

◆ _imu_buffer_length

uint8_t EstimatorInterface::_imu_buffer_length {0}

protected

Definition at line 432 of file estimator_interface.h.

Referenced by Ekf::controlFusionModes(), initialise_interface(), setIMUData(), and setOpticalFlowData().

◆ _imu_sample_delayed

imuSample EstimatorInterface::_imu_sample_delayed {}

protected

Definition at line 438 of file estimator_interface.h.

Referenced by Ekf::calculateOutputStates(), Ekf::canUse3DMagFusion(), Ekf::check3DMagFusionSuitability(), Ekf::checkMagBiasObservability(), Ekf::checkMagInhibition(), Ekf::collect_imu(), Ekf::controlAuxVelFusion(), Ekf::controlDragFusion(), Ekf::controlExternalVisionFusion(), Ekf::controlFusionModes(), Ekf::controlGpsFusion(), Ekf::controlHeightFusion(), Ekf::controlHeightSensorTimeouts(), Ekf::controlOpticalFlowFusion(), initialise_interface(), Ekf::initialiseCovariance(), Ekf::initialiseFilter(), Ekf::predictCovariance(), Ekf::predictState(), Ekf::realignYawGPS(), Ekf::reset_imu_bias(), Ekf::resetHeight(), Ekf::resetMagHeading(), Ekf::resetWindCovariance(), Ekf::resetWindStates(), Ekf::runTerrainEstimator(), setBaroData(), setGpsData(), Ekf::updateRangeDataContinuity(), and Ekf::updateRangeDataValidity().

◆ _imu_sample_new

imuSample EstimatorInterface::_imu_sample_new {}

protected

Definition at line 469 of file estimator_interface.h.

Referenced by Ekf::calculate_quaternion(), Ekf::calculateOutputStates(), and Ekf::collect_imu().

◆ _imu_updated

bool EstimatorInterface::_imu_updated {false}

protected

Definition at line 474 of file estimator_interface.h.

Referenced by Ekf::calculateOutputStates(), Ekf::collect_imu(), Ekf::reset(), and Ekf::update().

◆ _initialised

bool EstimatorInterface::_initialised {false}

protected

Definition at line 475 of file estimator_interface.h.

Referenced by initialise_interface(), setAirspeedData(), setAuxVelData(), setBaroData(), setExtVisionData(), setGpsData(), setIMUData(), setMagData(), setOpticalFlowData(), and setRangeData().

◆ _innov_check_fail_status

innovation_fault_status_u EstimatorInterface::_innov_check_fail_status {}

protected

Definition at line 494 of file estimator_interface.h.

Referenced by Ekf::fuseAirspeed(), Ekf::fuseGpsAntYaw(), Ekf::fuseHagl(), Ekf::fuseHeading(), Ekf::fuseMag(), Ekf::fuseOptFlow(), Ekf::fuseSideslip(), Ekf::fuseVelPosHeight(), Ekf::get_innovation_test_status(), and Ekf::reset().

◆ _is_dead_reckoning

bool EstimatorInterface::_is_dead_reckoning {false}

protected

Definition at line 496 of file estimator_interface.h.

Referenced by Ekf::controlOpticalFlowFusion(), Ekf::get_ekf_gpos_accuracy(), Ekf::get_ekf_lpos_accuracy(), Ekf::get_ekf_vel_accuracy(), and Ekf::update_deadreckoning_status().

◆ _is_wind_dead_reckoning

bool EstimatorInterface::_is_wind_dead_reckoning {false}

protected

Definition at line 498 of file estimator_interface.h.

Referenced by Ekf::fuseAirspeed(), Ekf::fuseSideslip(), and Ekf::update_deadreckoning_status().

◆ _mag_buffer

RingBuffer<magSample> EstimatorInterface::_mag_buffer

protected

Definition at line 518 of file estimator_interface.h.

Referenced by Ekf::controlFusionModes(), Ekf::initialiseFilter(), print_status(), setMagData(), and unallocate_buffers().

◆ _mag_buffer_fail

bool EstimatorInterface::_mag_buffer_fail {false}

protected

Definition at line 531 of file estimator_interface.h.

Referenced by setMagData().

◆ _mag_declination_gps

float EstimatorInterface::_mag_declination_gps {0.0f}

protected

Definition at line 559 of file estimator_interface.h.

Referenced by Ekf::collect_gps(), Ekf::controlFusionModes(), Ekf::getMagDeclination(), and Ekf::limitDeclination().

◆ _mag_inclination_gps

float EstimatorInterface::_mag_inclination_gps {0.0f}

protected

Definition at line 560 of file estimator_interface.h.

Referenced by Ekf::collect_gps(), Ekf::controlFusionModes(), and Ekf::limitDeclination().

◆ _mag_sample_delayed

magSample EstimatorInterface::_mag_sample_delayed {}

protected

Definition at line 441 of file estimator_interface.h.

Referenced by Ekf::controlFusionModes(), Ekf::fuseHeading(), Ekf::fuseMag(), Ekf::initialiseFilter(), Ekf::isMeasuredMatchingAverageMagStrength(), Ekf::isMeasuredMatchingGpsMagStrength(), Ekf::realignYawGPS(), and Ekf::updateMagFilter().

◆ _mag_strength_gps

float EstimatorInterface::_mag_strength_gps {0.0f}

protected

Definition at line 561 of file estimator_interface.h.

Referenced by Ekf::collect_gps(), Ekf::controlFusionModes(), Ekf::isMeasuredMatchingGpsMagStrength(), and Ekf::limitDeclination().

◆ _mag_test_ratio

float EstimatorInterface::_mag_test_ratio[3] {}

protected

Definition at line 488 of file estimator_interface.h.

Referenced by Ekf::fuseGpsAntYaw(), Ekf::fuseHeading(), Ekf::fuseMag(), Ekf::get_ekf_soln_status(), and Ekf::get_innovation_test_status().

◆ _min_obs_interval_us

unsigned EstimatorInterface::_min_obs_interval_us {0}

protected

Definition at line 434 of file estimator_interface.h.

Referenced by Ekf::collect_imu(), setAirspeedData(), setAuxVelData(), setBaroData(), setExtVisionData(), setGpsData(), setMagData(), setOpticalFlowData(), and setRangeData().

◆ _NED_origin_initialised

bool EstimatorInterface::_NED_origin_initialised {false}

protected

Definition at line 477 of file estimator_interface.h.

Referenced by Ekf::checkMagFieldStrength(), Ekf::collect_gps(), Ekf::controlFusionModes(), Ekf::controlGpsFusion(), Ekf::get_ekf_origin(), Ekf::getMagDeclination(), Ekf::global_position_is_valid(), Ekf::limitDeclination(), Ekf::predictState(), and Ekf::reset().

◆ _obs_buffer_length

uint8_t EstimatorInterface::_obs_buffer_length {0}

protected

Definition at line 424 of file estimator_interface.h.

Referenced by Ekf::collect_imu(), Ekf::controlFusionModes(), initialise_interface(), Ekf::initialiseFilter(), setAirspeedData(), setAuxVelData(), setBaroData(), setExtVisionData(), setGpsData(), setIMUData(), setMagData(), and setRangeData().

◆ _output_buffer

RingBuffer<outputSample> EstimatorInterface::_output_buffer

protected

Definition at line 524 of file estimator_interface.h.

Referenced by Ekf::alignOutputFilter(), Ekf::calculateOutputStates(), Ekf::controlExternalVisionFusion(), initialise_interface(), print_status(), Ekf::realignYawGPS(), Ekf::resetGpsAntYaw(), Ekf::resetHeight(), Ekf::resetMagHeading(), Ekf::resetPosition(), Ekf::resetVelocity(), and unallocate_buffers().

◆ _output_new

outputSample EstimatorInterface::_output_new {}

protected

Definition at line 466 of file estimator_interface.h.

Referenced by Ekf::alignOutputFilter(), Ekf::calculate_quaternion(), Ekf::calculateOutputStates(), Ekf::controlExternalVisionFusion(), Ekf::realignYawGPS(), Ekf::resetGpsAntYaw(), Ekf::resetHeight(), Ekf::resetMagHeading(), Ekf::resetPosition(), Ekf::resetStates(), and Ekf::resetVelocity().

◆ _output_sample_delayed

outputSample EstimatorInterface::_output_sample_delayed {}

protected

Definition at line 465 of file estimator_interface.h.

Referenced by Ekf::alignOutputFilter(), and Ekf::calculateOutputStates().

◆ _output_vert_buffer

RingBuffer<outputVert> EstimatorInterface::_output_vert_buffer

protected

Definition at line 525 of file estimator_interface.h.

Referenced by Ekf::calculateOutputStates(), initialise_interface(), print_status(), Ekf::resetHeight(), and unallocate_buffers().

◆ _output_vert_delayed

outputVert EstimatorInterface::_output_vert_delayed {}

protected

Definition at line 467 of file estimator_interface.h.

Referenced by Ekf::calculateOutputStates(), and Ekf::resetHeight().

◆ _output_vert_new

outputVert EstimatorInterface::_output_vert_new {}

protected

Definition at line 468 of file estimator_interface.h.

Referenced by Ekf::calculateOutputStates(), and Ekf::resetHeight().

◆ _params

parameters EstimatorInterface::_params

protected

Definition at line 415 of file estimator_interface.h.

◆ _R_to_earth_now

Matrix3f EstimatorInterface::_R_to_earth_now

protected

Definition at line 470 of file estimator_interface.h.

Referenced by Ekf::calculateOutputStates().

◆ _range_buffer

RingBuffer<rangeSample> EstimatorInterface::_range_buffer

protected

Definition at line 520 of file estimator_interface.h.

Referenced by Ekf::controlFusionModes(), Ekf::initHagl(), print_status(), setRangeData(), and unallocate_buffers().

◆ _range_buffer_fail

bool EstimatorInterface::_range_buffer_fail {false}

protected

Definition at line 533 of file estimator_interface.h.

Referenced by setRangeData().

◆ _range_sample_delayed

rangeSample EstimatorInterface::_range_sample_delayed {}

protected

Definition at line 444 of file estimator_interface.h.

Referenced by Ekf::controlFusionModes(), Ekf::controlHeightFusion(), Ekf::fuseHagl(), Ekf::fuseVelPosHeight(), Ekf::resetHeight(), Ekf::updateRangeDataContinuity(), Ekf::updateRangeDataStuck(), and Ekf::updateRangeDataValidity().

◆ _rng_valid_max_val

float EstimatorInterface::_rng_valid_max_val {0.0f}

protected

maximum distance that the rangefinder can measure (m)

Definition at line 459 of file estimator_interface.h.

Referenced by Ekf::get_ekf_ctrl_limits(), and Ekf::updateRangeDataValidity().

◆ _rng_valid_min_val

float EstimatorInterface::_rng_valid_min_val {0.0f}

protected

minimum distance that the rangefinder can measure (m)

Definition at line 458 of file estimator_interface.h.

Referenced by Ekf::get_ekf_ctrl_limits(), and Ekf::updateRangeDataValidity().

◆ _tas_test_ratio

float EstimatorInterface::_tas_test_ratio {0.0f}

protected

Definition at line 490 of file estimator_interface.h.

Referenced by Ekf::fuseAirspeed(), and Ekf::get_innovation_test_status().

◆ _terr_test_ratio

float EstimatorInterface::_terr_test_ratio {0.0f}

protected

Definition at line 491 of file estimator_interface.h.

Referenced by Ekf::fuseHagl(), and Ekf::get_innovation_test_status().

◆ _time_last_airspeed

uint64_t EstimatorInterface::_time_last_airspeed {0}

protected

Definition at line 545 of file estimator_interface.h.

Referenced by initialise_interface(), and setAirspeedData().

◆ _time_last_auxvel

uint64_t EstimatorInterface::_time_last_auxvel {0}

protected

Definition at line 549 of file estimator_interface.h.

Referenced by setAuxVelData().

◆ _time_last_baro

uint64_t EstimatorInterface::_time_last_baro {0}

protected

Definition at line 543 of file estimator_interface.h.

Referenced by initialise_interface(), and setBaroData().

◆ _time_last_ext_vision

uint64_t EstimatorInterface::_time_last_ext_vision {0}

protected

Definition at line 546 of file estimator_interface.h.

Referenced by Ekf::controlExternalVisionFusion(), initialise_interface(), and setExtVisionData().

◆ _time_last_gnd_effect_on

uint64_t EstimatorInterface::_time_last_gnd_effect_on {0}

protected

Definition at line 548 of file estimator_interface.h.

Referenced by Ekf::controlHeightFusion().

◆ _time_last_gps

uint64_t EstimatorInterface::_time_last_gps {0}

protected

Definition at line 541 of file estimator_interface.h.

Referenced by Ekf::controlGpsFusion(), initialise_interface(), and setGpsData().

◆ _time_last_imu

uint64_t EstimatorInterface::_time_last_imu {0}

protected

◆ _time_last_mag

uint64_t EstimatorInterface::_time_last_mag {0}

protected

Definition at line 542 of file estimator_interface.h.

Referenced by initialise_interface(), and setMagData().

◆ _time_last_move_detect_us

uint64_t EstimatorInterface::_time_last_move_detect_us {0}

protected

Definition at line 512 of file estimator_interface.h.

Referenced by setIMUData().

◆ _time_last_optflow

uint64_t EstimatorInterface::_time_last_optflow {0}

protected

Definition at line 547 of file estimator_interface.h.

Referenced by initialise_interface(), and setOpticalFlowData().

◆ _time_last_range

uint64_t EstimatorInterface::_time_last_range {0}

protected

Definition at line 544 of file estimator_interface.h.

Referenced by initialise_interface(), and setRangeData().

◆ _vehicle_at_rest

bool EstimatorInterface::_vehicle_at_rest {false}

protected

Definition at line 511 of file estimator_interface.h.

Referenced by Ekf::fuseHeading(), Ekf::get_gps_drift_metrics(), Ekf::gps_is_good(), and setIMUData().

◆ _vel_deriv_ned

Vector3f EstimatorInterface::_vel_deriv_ned

protected

Definition at line 472 of file estimator_interface.h.

Referenced by Ekf::calculateOutputStates().

◆ _vel_imu_rel_body_ned

Vector3f EstimatorInterface::_vel_imu_rel_body_ned

protected

Definition at line 471 of file estimator_interface.h.

Referenced by Ekf::calculateOutputStates().

◆ _vel_pos_test_ratio

float EstimatorInterface::_vel_pos_test_ratio[6] {}

protected

Definition at line 489 of file estimator_interface.h.

Referenced by Ekf::fuseVelPosHeight(), Ekf::get_ekf_soln_status(), Ekf::get_innovation_test_status(), and Ekf::realignYawGPS().

◆ _vibe_metrics

float EstimatorInterface::_vibe_metrics[3] {}

protected

Definition at line 503 of file estimator_interface.h.

Referenced by Ekf::get_imu_vibe_metrics(), and setIMUData().

◆ _yaw_test_ratio

float EstimatorInterface::_yaw_test_ratio {0.0f}

protected

Definition at line 487 of file estimator_interface.h.

Referenced by Ekf::fuseGpsAntYaw(), Ekf::fuseHeading(), Ekf::fuseMag(), Ekf::get_ekf_soln_status(), and Ekf::get_innovation_test_status().

◆ FILTER_UPDATE_PERIOD_MS

constexpr unsigned EstimatorInterface::FILTER_UPDATE_PERIOD_MS {8}

static

Definition at line 410 of file estimator_interface.h.

Referenced by initialise_interface(), setAirspeedData(), setAuxVelData(), setBaroData(), setGpsData(), setMagData(), and TEST_P().

◆ FILTER_UPDATE_PERIOD_S

constexpr float EstimatorInterface::FILTER_UPDATE_PERIOD_S {FILTER_UPDATE_PERIOD_MS * 0.001f}

static

Definition at line 411 of file estimator_interface.h.

Referenced by Ekf::collect_imu(), Ekf::controlGpsFusion(), Ekf::initialiseCovariance(), Ekf::predictCovariance(), Ekf::predictState(), Ekf::reset(), and Ekf::reset_imu_bias().

The documentation for this class was generated from the following files:

src/lib/ecl/EKF/estimator_interface.h
src/lib/ecl/EKF/ekf_helper.cpp
src/lib/ecl/EKF/estimator_interface.cpp

Classes

Public Types

Public Member Functions

Static Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ AlphaFilterVector3f

Constructor & Destructor Documentation

◆ EstimatorInterface()

◆ ~EstimatorInterface()

Member Function Documentation

◆ attitude_valid()

◆ collect_gps()

◆ collect_imu()

◆ copy_timestamp()

◆ cross_product()

◆ get_accel_bias()

◆ get_airspeed_innov()

◆ get_airspeed_innov_var()

◆ get_aux_vel_innov()

◆ get_baro_sample_delayed()

◆ get_beta_innov()

◆ get_beta_innov_var()

◆ get_control_mode()

◆ get_drag_innov()

◆ get_drag_innov_var()

◆ get_dt_imu_avg()

◆ get_ekf_ctrl_limits()

◆ get_ekf_gpos_accuracy()

◆ get_ekf_lpos_accuracy()

◆ get_ekf_origin()

◆ get_ekf_soln_status()

◆ get_ekf_vel_accuracy()

◆ get_ev2ekf_quaternion()

◆ get_filter_fault_status()

◆ get_flow_innov()

◆ get_flow_innov_var()

◆ get_gps_check_status()

◆ get_gps_drift_metrics()

◆ get_gyro_bias()

◆ get_hagl_innov()

◆ get_hagl_innov_var()

◆ get_heading_innov()

◆ get_heading_innov_var()

◆ get_imu_sample_delayed()

◆ get_imu_vibe_metrics()

◆ get_in_air_status()

◆ get_innovation_test_status()

◆ get_mag_decl_deg()

◆ get_mag_innov()

◆ get_mag_innov_var()

◆ get_output_tracking_error()

◆ get_pos_d_deriv()

◆ get_pos_var()

◆ get_posD_reset()

◆ get_position()

◆ get_posNE_reset()

◆ get_quat_reset()

◆ get_quaternion()

◆ get_state_delayed()

◆ get_terrain_valid()

◆ get_terrain_vert_pos()

◆ get_true_airspeed()

◆ get_vel_deriv_ned()

◆ get_vel_pos_innov()

◆ get_vel_pos_innov_var()

◆ get_vel_var()

◆ get_velD_reset()

◆ get_velNE_reset()

◆ get_velocity()

◆ get_wind_status()

◆ get_wind_velocity()

◆ get_wind_velocity_var()

◆ getHaglInnov()

◆ getHaglInnovVar()

◆ getParamHandle()

◆ getTerrainVertPos()

◆ global_position_is_valid()