Sih Class Reference

#include <sih.hpp>

Inheritance diagram for Sih:

Collaboration diagram for Sih:

Public Member Functions
	Sih ()
virtual	~Sih ()=default
void	run () override
int	print_status () override

Static Public Member Functions
static int	task_spawn (int argc, char *argv[])
static Sih *	instantiate (int argc, char *argv[])
static int	custom_command (int argc, char *argv[])
static int	print_usage (const char *reason=nullptr)
static float	generate_wgn ()
static matrix::Vector3f	noiseGauss3f (float stdx, float stdy, float stdz)
static void	timer_callback (void *sem)

Private Member Functions
void	parameters_update_poll ()
	Check for parameter changes and update them if needed. More...
void	parameters_updated ()
void	init_variables ()
void	init_sensors ()
void	read_motors ()
void	generate_force_and_torques ()
void	equations_of_motion ()
void	reconstruct_sensors_signals ()
void	send_IMU ()
void	send_gps ()
void	publish_sih ()
void	inner_loop ()

Private Attributes
PX4Accelerometer	_px4_accel { 1311244, ORB_PRIO_DEFAULT, ROTATION_NONE }
PX4Gyroscope	_px4_gyro { 2294028, ORB_PRIO_DEFAULT, ROTATION_NONE }
PX4Magnetometer	_px4_mag { 197388, ORB_PRIO_DEFAULT, ROTATION_NONE }
PX4Barometer	_px4_baro { 6620172, ORB_PRIO_DEFAULT }
vehicle_gps_position_s	_vehicle_gps_pos {}
orb_advert_t	_vehicle_gps_pos_pub {nullptr}
vehicle_angular_velocity_s	_vehicle_angular_velocity_gt {}
orb_advert_t	_vehicle_angular_velocity_gt_pub {nullptr}
vehicle_attitude_s	_att_gt {}
orb_advert_t	_att_gt_pub {nullptr}
vehicle_global_position_s	_gpos_gt {}
orb_advert_t	_gpos_gt_pub {nullptr}
uORB::Subscription	_parameter_update_sub {ORB_ID(parameter_update)}
int	_actuator_out_sub {-1}
perf_counter_t	_loop_perf
perf_counter_t	_sampling_perf
px4_sem_t	_data_semaphore
hrt_call	_timer_call
hrt_abstime	_last_run
hrt_abstime	_gps_time
hrt_abstime	_serial_time
hrt_abstime	_now
float	_dt
bool	_grounded {true}
matrix::Vector3f	_T_B
matrix::Vector3f	_Fa_I
matrix::Vector3f	_Mt_B
matrix::Vector3f	_Ma_B
matrix::Vector3f	_p_I
matrix::Vector3f	_v_I
matrix::Vector3f	_v_B
matrix::Vector3f	_p_I_dot
matrix::Vector3f	_v_I_dot
matrix::Quatf	_q
matrix::Dcmf	_C_IB
matrix::Vector3f	_w_B
matrix::Quatf	_q_dot
matrix::Vector3f	_w_B_dot
float	_u [NB_MOTORS]
matrix::Vector3f	_acc
matrix::Vector3f	_mag
matrix::Vector3f	_gyro
matrix::Vector3f	_gps_vel
double	_gps_lat
double	_gps_lat_noiseless
double	_gps_lon
double	_gps_lon_noiseless
float	_gps_alt
float	_gps_alt_noiseless
float	_baro_p_mBar
float	_baro_temp_c
float	_MASS
float	_T_MAX
float	_Q_MAX
float	_L_ROLL
float	_L_PITCH
float	_KDV
float	_KDW
float	_H0
double	_LAT0
double	_LON0
double	_COS_LAT0
matrix::Vector3f	_W_I
matrix::Matrix3f	_I
matrix::Matrix3f	_Im1
matrix::Vector3f	_mu_I

Static Private Attributes
static constexpr uint16_t	NB_MOTORS = 4
static constexpr float	T1_C = 15.0f
static constexpr float	T1_K = T1_C - CONSTANTS_ABSOLUTE_NULL_CELSIUS
static constexpr float	TEMP_GRADIENT = -6.5f / 1000.0f
static constexpr hrt_abstime	LOOP_INTERVAL = 4000

Detailed Description

Definition at line 58 of file sih.hpp.

Constructor & Destructor Documentation

Sih()

Sih::Sih

(

)

Definition at line 100 of file sih.cpp.

~Sih()

virtual Sih::~Sih ( )

virtualdefault

Member Function Documentation

custom_command()

int Sih::custom_command ( int  argc, char *  argv[]  )

static

See also

ModuleBase

Definition at line 66 of file sih.cpp.

References print_usage().

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equations_of_motion()

void Sih::equations_of_motion ( )

private

Definition at line 286 of file sih.cpp.

References _C_IB, _dt, _Fa_I, _grounded, _I, _Im1, _Ma_B, _MASS, _Mt_B, _p_I, _p_I_dot, _q, _q_dot, _T_B, _v_I, _v_I_dot, _w_B, _w_B_dot, _W_I, matrix::Vector3< Type >::cross(), matrix::Quaternion< Type >::derivative1(), matrix::Vector< Type, M >::normalize(), matrix::Matrix< Type, M, N >::setZero(), and matrix::Quaternion< Type >::to_dcm().

Referenced by inner_loop().

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generate_force_and_torques()

void Sih::generate_force_and_torques ( )

private

Definition at line 274 of file sih.cpp.

References _Fa_I, _KDV, _KDW, _L_PITCH, _L_ROLL, _Ma_B, _Mt_B, _Q_MAX, _T_B, _T_MAX, _u, _v_I, _w_B, and f().

Referenced by inner_loop().

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generate_wgn()

float Sih::generate_wgn ( )

static

Definition at line 454 of file sih.cpp.

References f().

Referenced by noiseGauss3f(), and reconstruct_sensors_signals().

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init_sensors()

void Sih::init_sensors ( )

private

Definition at line 241 of file sih.cpp.

References _vehicle_gps_pos, vehicle_gps_position_s::c_variance_rad, vehicle_gps_position_s::eph, vehicle_gps_position_s::epv, vehicle_gps_position_s::fix_type, vehicle_gps_position_s::hdop, vehicle_gps_position_s::heading, vehicle_gps_position_s::heading_offset, vehicle_gps_position_s::s_variance_m_s, vehicle_gps_position_s::satellites_used, and vehicle_gps_position_s::vdop.

Referenced by run().

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init_variables()

void Sih::init_variables ( )

private

Definition at line 229 of file sih.cpp.

References _p_I, _q, _u, _v_I, _w_B, and f().

Referenced by run().

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inner_loop()

void Sih::inner_loop ( )

private

Definition at line 154 of file sih.cpp.

References _dt, _gps_time, _last_run, _now, _serial_time, equations_of_motion(), f(), generate_force_and_torques(), hrt_absolute_time(), parameters_update_poll(), publish_sih(), read_motors(), reconstruct_sensors_signals(), send_gps(), and send_IMU().

Referenced by run().

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instantiate()

Sih * Sih::instantiate ( int  argc, char *  argv[]  )

static

See also

ModuleBase

Definition at line 89 of file sih.cpp.

References ll40ls::instance.

noiseGauss3f()

Vector3f Sih::noiseGauss3f ( float  stdx, float  stdy, float  stdz  )

static

Definition at line 484 of file sih.cpp.

References generate_wgn().

Referenced by reconstruct_sensors_signals().

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parameters_update_poll()

void Sih::parameters_update_poll ( )

private

Check for parameter changes and update them if needed.

Parameters

parameter_update_sub	uorb subscription to parameter_update
force	for a parameter update

Definition at line 185 of file sih.cpp.

References _parameter_update_sub, uORB::Subscription::copy(), parameters_updated(), and uORB::Subscription::updated().

Referenced by inner_loop(), and run().

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parameters_updated()

void Sih::parameters_updated ( )

private

Definition at line 200 of file sih.cpp.

References _COS_LAT0, _H0, _I, _Im1, _KDV, _KDW, _L_PITCH, _L_ROLL, _LAT0, _LON0, _MASS, _mu_I, _Q_MAX, _T_MAX, _W_I, CONSTANTS_ONE_G, matrix::diag(), f(), matrix::inv(), and math::radians().

Referenced by parameters_update_poll().

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print_status()

int Sih::print_status ( )

override

See also

ModuleBase::print_status()

Definition at line 60 of file sih.cpp.

print_usage()

int Sih::print_usage ( const char *  reason = nullptr )

static

See also

ModuleBase

Definition at line 494 of file sih.cpp.

publish_sih()

void Sih::publish_sih ( )

private

Definition at line 407 of file sih.cpp.

References _att_gt, _att_gt_pub, _gpos_gt, _gpos_gt_pub, _gps_alt_noiseless, _gps_lat_noiseless, _gps_lon_noiseless, _q, _v_I, _vehicle_angular_velocity_gt, _vehicle_angular_velocity_gt_pub, _w_B, vehicle_global_position_s::alt, hrt_absolute_time(), vehicle_global_position_s::lat, vehicle_global_position_s::lon, orb_advertise(), ORB_ID, orb_publish(), vehicle_attitude_s::q, vehicle_attitude_s::timestamp, vehicle_global_position_s::timestamp, vehicle_angular_velocity_s::timestamp, vehicle_global_position_s::vel_d, vehicle_global_position_s::vel_e, vehicle_global_position_s::vel_n, and vehicle_angular_velocity_s::xyz.

Referenced by inner_loop().

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read_motors()

void Sih::read_motors ( )

private

Definition at line 256 of file sih.cpp.

References _actuator_out_sub, _u, math::constrain(), NB_MOTORS, orb_check(), orb_copy(), ORB_ID, PWM_DEFAULT_MAX, and PWM_DEFAULT_MIN.

Referenced by inner_loop().

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reconstruct_sensors_signals()

void Sih::reconstruct_sensors_signals ( )

private

Definition at line 322 of file sih.cpp.

References _acc, _baro_p_mBar, _baro_temp_c, _C_IB, _COS_LAT0, _gps_alt, _gps_alt_noiseless, _gps_lat, _gps_lat_noiseless, _gps_lon, _gps_lon_noiseless, _gps_vel, _gyro, _H0, _LAT0, _LON0, _mag, _mu_I, _p_I, _v_I, _v_I_dot, _w_B, CONSTANTS_ABSOLUTE_NULL_CELSIUS, CONSTANTS_AIR_GAS_CONST, CONSTANTS_ONE_G, CONSTANTS_RADIUS_OF_EARTH, CONSTANTS_STD_PRESSURE_MBAR, math::degrees(), f(), generate_wgn(), noiseGauss3f(), T1_K, TEMP_GRADIENT, and matrix::Matrix< Type, M, N >::transpose().

Referenced by inner_loop().

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run()

void Sih::run ( )

override

See also

ModuleBase::run()

Definition at line 107 of file sih.cpp.

References _actuator_out_sub, _data_semaphore, _gps_time, _last_run, _loop_perf, _sampling_perf, _serial_time, _timer_call, hrt_absolute_time(), hrt_abstime, hrt_call_every(), hrt_cancel(), init_sensors(), init_variables(), inner_loop(), LOOP_INTERVAL, ORB_ID, orb_subscribe(), orb_unsubscribe(), parameters_update_poll(), perf_begin(), perf_end(), and timer_callback().

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send_gps()

void Sih::send_gps ( )

private

Definition at line 383 of file sih.cpp.

References _gps_alt, _gps_lat, _gps_lon, _gps_vel, _now, _vehicle_gps_pos, _vehicle_gps_pos_pub, vehicle_gps_position_s::alt, vehicle_gps_position_s::alt_ellipsoid, matrix::atan2(), vehicle_gps_position_s::cog_rad, f(), vehicle_gps_position_s::lat, vehicle_gps_position_s::lon, orb_advertise(), ORB_ID, orb_publish(), vehicle_gps_position_s::timestamp, vehicle_gps_position_s::vel_d_m_s, vehicle_gps_position_s::vel_e_m_s, vehicle_gps_position_s::vel_m_s, vehicle_gps_position_s::vel_n_m_s, and vehicle_gps_position_s::vel_ned_valid.

Referenced by inner_loop().

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send_IMU()

void Sih::send_IMU ( )

private

Definition at line 350 of file sih.cpp.

References _acc, _baro_p_mBar, _baro_temp_c, _gyro, _mag, _now, _px4_accel, _px4_baro, _px4_gyro, _px4_mag, PX4Magnetometer::set_scale(), PX4Accelerometer::set_scale(), PX4Gyroscope::set_scale(), PX4Barometer::set_temperature(), PX4Magnetometer::set_temperature(), PX4Accelerometer::set_temperature(), PX4Gyroscope::set_temperature(), T1_C, PX4Barometer::update(), PX4Magnetometer::update(), PX4Accelerometer::update(), and PX4Gyroscope::update().

Referenced by inner_loop().

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task_spawn()

int Sih::task_spawn ( int  argc, char *  argv[]  )

static

See also

ModuleBase

Definition at line 72 of file sih.cpp.

timer_callback()

void Sih::timer_callback ( void *  sem )

static

Definition at line 148 of file sih.cpp.

Referenced by run().

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Member Data Documentation

_acc

matrix::Vector3f Sih::_acc

private

Definition at line 175 of file sih.hpp.

Referenced by reconstruct_sensors_signals(), and send_IMU().

_actuator_out_sub

int Sih::_actuator_out_sub {-1}

private

Definition at line 124 of file sih.hpp.

Referenced by read_motors(), and run().

_att_gt

vehicle_attitude_s Sih::_att_gt {}

private

Definition at line 116 of file sih.hpp.

Referenced by publish_sih().

_att_gt_pub

orb_advert_t Sih::_att_gt_pub {nullptr}

private

Definition at line 117 of file sih.hpp.

Referenced by publish_sih().

_baro_p_mBar

float Sih::_baro_p_mBar

private

Definition at line 182 of file sih.hpp.

Referenced by reconstruct_sensors_signals(), and send_IMU().

_baro_temp_c

float Sih::_baro_temp_c

private

Definition at line 183 of file sih.hpp.

Referenced by reconstruct_sensors_signals(), and send_IMU().

_C_IB

matrix::Dcmf Sih::_C_IB

private

Definition at line 167 of file sih.hpp.

Referenced by equations_of_motion(), and reconstruct_sensors_signals().

_COS_LAT0

double Sih::_COS_LAT0

private

Definition at line 187 of file sih.hpp.

Referenced by parameters_updated(), and reconstruct_sensors_signals().

_data_semaphore

px4_sem_t Sih::_data_semaphore

private

Definition at line 147 of file sih.hpp.

Referenced by run().

_dt

float Sih::_dt

private

Definition at line 154 of file sih.hpp.

Referenced by equations_of_motion(), and inner_loop().

_Fa_I

matrix::Vector3f Sih::_Fa_I

private

Definition at line 158 of file sih.hpp.

Referenced by equations_of_motion(), and generate_force_and_torques().

_gpos_gt

vehicle_global_position_s Sih::_gpos_gt {}

private

Definition at line 120 of file sih.hpp.

Referenced by publish_sih().

_gpos_gt_pub

orb_advert_t Sih::_gpos_gt_pub {nullptr}

private

Definition at line 121 of file sih.hpp.

Referenced by publish_sih().

_gps_alt

float Sih::_gps_alt

private

Definition at line 181 of file sih.hpp.

Referenced by reconstruct_sensors_signals(), and send_gps().

_gps_alt_noiseless

float Sih::_gps_alt_noiseless

private

Definition at line 181 of file sih.hpp.

Referenced by publish_sih(), and reconstruct_sensors_signals().

_gps_lat

double Sih::_gps_lat

private

Definition at line 179 of file sih.hpp.

Referenced by reconstruct_sensors_signals(), and send_gps().

_gps_lat_noiseless

double Sih::_gps_lat_noiseless

private

Definition at line 179 of file sih.hpp.

Referenced by publish_sih(), and reconstruct_sensors_signals().

_gps_lon

double Sih::_gps_lon

private

Definition at line 180 of file sih.hpp.

Referenced by reconstruct_sensors_signals(), and send_gps().

_gps_lon_noiseless

double Sih::_gps_lon_noiseless

private

Definition at line 180 of file sih.hpp.

Referenced by publish_sih(), and reconstruct_sensors_signals().

_gps_time

hrt_abstime Sih::_gps_time

private

Definition at line 151 of file sih.hpp.

Referenced by inner_loop(), and run().

_gps_vel

matrix::Vector3f Sih::_gps_vel

private

Definition at line 178 of file sih.hpp.

Referenced by reconstruct_sensors_signals(), and send_gps().

_grounded

bool Sih::_grounded {true}

private

Definition at line 155 of file sih.hpp.

Referenced by equations_of_motion().

_gyro

matrix::Vector3f Sih::_gyro

private

Definition at line 177 of file sih.hpp.

Referenced by reconstruct_sensors_signals(), and send_IMU().

_H0

float Sih::_H0

private

Definition at line 186 of file sih.hpp.

Referenced by parameters_updated(), and reconstruct_sensors_signals().

_I

matrix::Matrix3f Sih::_I

private

Definition at line 189 of file sih.hpp.

Referenced by equations_of_motion(), and parameters_updated().

_Im1

matrix::Matrix3f Sih::_Im1

private

Definition at line 190 of file sih.hpp.

Referenced by equations_of_motion(), and parameters_updated().

_KDV

float Sih::_KDV

private

Definition at line 186 of file sih.hpp.

Referenced by generate_force_and_torques(), and parameters_updated().

_KDW

float Sih::_KDW

private

Definition at line 186 of file sih.hpp.

Referenced by generate_force_and_torques(), and parameters_updated().

_L_PITCH

float Sih::_L_PITCH

private

Definition at line 186 of file sih.hpp.

Referenced by generate_force_and_torques(), and parameters_updated().

_L_ROLL

float Sih::_L_ROLL

private

Definition at line 186 of file sih.hpp.

Referenced by generate_force_and_torques(), and parameters_updated().

_last_run

hrt_abstime Sih::_last_run

private

Definition at line 150 of file sih.hpp.

Referenced by inner_loop(), and run().

_LAT0

double Sih::_LAT0

private

Definition at line 187 of file sih.hpp.

Referenced by parameters_updated(), and reconstruct_sensors_signals().

_LON0

double Sih::_LON0

private

Definition at line 187 of file sih.hpp.

Referenced by parameters_updated(), and reconstruct_sensors_signals().

_loop_perf

perf_counter_t Sih::_loop_perf

private

Definition at line 144 of file sih.hpp.

Referenced by run().

_Ma_B

matrix::Vector3f Sih::_Ma_B

private

Definition at line 160 of file sih.hpp.

Referenced by equations_of_motion(), and generate_force_and_torques().

_mag

matrix::Vector3f Sih::_mag

private

Definition at line 176 of file sih.hpp.

Referenced by reconstruct_sensors_signals(), and send_IMU().

_MASS

float Sih::_MASS

private

Definition at line 186 of file sih.hpp.

Referenced by equations_of_motion(), and parameters_updated().

_Mt_B

matrix::Vector3f Sih::_Mt_B

private

Definition at line 159 of file sih.hpp.

Referenced by equations_of_motion(), and generate_force_and_torques().

_mu_I

matrix::Vector3f Sih::_mu_I

private

Definition at line 191 of file sih.hpp.

Referenced by parameters_updated(), and reconstruct_sensors_signals().

_now

hrt_abstime Sih::_now

private

Definition at line 153 of file sih.hpp.

Referenced by inner_loop(), send_gps(), and send_IMU().

_p_I

matrix::Vector3f Sih::_p_I

private

Definition at line 161 of file sih.hpp.

Referenced by equations_of_motion(), init_variables(), and reconstruct_sensors_signals().

_p_I_dot

matrix::Vector3f Sih::_p_I_dot

private

Definition at line 164 of file sih.hpp.

Referenced by equations_of_motion().

_parameter_update_sub

uORB::Subscription Sih::_parameter_update_sub {ORB_ID(parameter_update)}

private

Definition at line 123 of file sih.hpp.

Referenced by parameters_update_poll().

_px4_accel

PX4Accelerometer Sih::_px4_accel { 1311244, ORB_PRIO_DEFAULT, ROTATION_NONE }

private

Definition at line 102 of file sih.hpp.

Referenced by send_IMU().

_px4_baro

PX4Barometer Sih::_px4_baro { 6620172, ORB_PRIO_DEFAULT }

private

Definition at line 105 of file sih.hpp.

Referenced by send_IMU().

_px4_gyro

PX4Gyroscope Sih::_px4_gyro { 2294028, ORB_PRIO_DEFAULT, ROTATION_NONE }

private

Definition at line 103 of file sih.hpp.

Referenced by send_IMU().

_px4_mag

PX4Magnetometer Sih::_px4_mag { 197388, ORB_PRIO_DEFAULT, ROTATION_NONE }

private

Definition at line 104 of file sih.hpp.

Referenced by send_IMU().

_q

matrix::Quatf Sih::_q

private

Definition at line 166 of file sih.hpp.

Referenced by equations_of_motion(), init_variables(), and publish_sih().

_q_dot

matrix::Quatf Sih::_q_dot

private

Definition at line 169 of file sih.hpp.

Referenced by equations_of_motion().

_Q_MAX

float Sih::_Q_MAX

private

Definition at line 186 of file sih.hpp.

Referenced by generate_force_and_torques(), and parameters_updated().

_sampling_perf

perf_counter_t Sih::_sampling_perf

private

Definition at line 145 of file sih.hpp.

Referenced by run().

_serial_time

hrt_abstime Sih::_serial_time

private

Definition at line 152 of file sih.hpp.

Referenced by inner_loop(), and run().

_T_B

matrix::Vector3f Sih::_T_B

private

Definition at line 157 of file sih.hpp.

Referenced by equations_of_motion(), and generate_force_and_torques().

_T_MAX

float Sih::_T_MAX

private

Definition at line 186 of file sih.hpp.

Referenced by generate_force_and_torques(), and parameters_updated().

_timer_call

hrt_call Sih::_timer_call

private

Definition at line 149 of file sih.hpp.

Referenced by run().

_u

float Sih::_u[NB_MOTORS]

private

Definition at line 171 of file sih.hpp.

Referenced by generate_force_and_torques(), init_variables(), and read_motors().

_v_B

matrix::Vector3f Sih::_v_B

private

Definition at line 163 of file sih.hpp.

_v_I

matrix::Vector3f Sih::_v_I

private

Definition at line 162 of file sih.hpp.

Referenced by equations_of_motion(), generate_force_and_torques(), init_variables(), publish_sih(), and reconstruct_sensors_signals().

_v_I_dot

matrix::Vector3f Sih::_v_I_dot

private

Definition at line 165 of file sih.hpp.

Referenced by equations_of_motion(), and reconstruct_sensors_signals().

_vehicle_angular_velocity_gt

vehicle_angular_velocity_s Sih::_vehicle_angular_velocity_gt {}

private

Definition at line 112 of file sih.hpp.

Referenced by publish_sih().

_vehicle_angular_velocity_gt_pub

orb_advert_t Sih::_vehicle_angular_velocity_gt_pub {nullptr}

private

Definition at line 113 of file sih.hpp.

Referenced by publish_sih().

_vehicle_gps_pos

vehicle_gps_position_s Sih::_vehicle_gps_pos {}

private

Definition at line 108 of file sih.hpp.

Referenced by init_sensors(), and send_gps().

_vehicle_gps_pos_pub

orb_advert_t Sih::_vehicle_gps_pos_pub {nullptr}

private

Definition at line 109 of file sih.hpp.

Referenced by send_gps().

_w_B

matrix::Vector3f Sih::_w_B

private

Definition at line 168 of file sih.hpp.

Referenced by equations_of_motion(), generate_force_and_torques(), init_variables(), publish_sih(), and reconstruct_sensors_signals().

_w_B_dot

matrix::Vector3f Sih::_w_B_dot

private

Definition at line 170 of file sih.hpp.

Referenced by equations_of_motion().

_W_I

matrix::Vector3f Sih::_W_I

private

Definition at line 188 of file sih.hpp.

Referenced by equations_of_motion(), and parameters_updated().

LOOP_INTERVAL

constexpr hrt_abstime Sih::LOOP_INTERVAL = 4000

staticprivate

Definition at line 131 of file sih.hpp.

Referenced by run().

NB_MOTORS

constexpr uint16_t Sih::NB_MOTORS = 4

staticprivate

Definition at line 127 of file sih.hpp.

Referenced by read_motors().

T1_C

constexpr float Sih::T1_C = 15.0f

staticprivate

Definition at line 128 of file sih.hpp.

Referenced by send_IMU().

T1_K

constexpr float Sih::T1_K = T1_C - CONSTANTS_ABSOLUTE_NULL_CELSIUS

staticprivate

Definition at line 129 of file sih.hpp.

Referenced by reconstruct_sensors_signals().

TEMP_GRADIENT

constexpr float Sih::TEMP_GRADIENT = -6.5f / 1000.0f

staticprivate

Definition at line 130 of file sih.hpp.

Referenced by reconstruct_sensors_signals().

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

• src/modules/sih/sih.hpp
• src/modules/sih/sih.cpp