estimator::stateSample Struct Reference

#include <common.h>

Collaboration diagram for estimator::stateSample:

Public Attributes
Quatf	quat_nominal
	quaternion defining the rotation from body to earth frame More...
Vector3f	vel
	NED velocity in earth frame in m/s. More...
Vector3f	pos
	NED position in earth frame in m. More...
Vector3f	gyro_bias
	delta angle bias estimate in rad More...
Vector3f	accel_bias
	delta velocity bias estimate in m/s More...
Vector3f	mag_I
	NED earth magnetic field in gauss. More...
Vector3f	mag_B
	magnetometer bias estimate in body frame in gauss More...
Vector2f	wind_vel
	wind velocity in m/s More...

Detailed Description

Definition at line 367 of file common.h.

Member Data Documentation

accel_bias

Vector3f estimator::stateSample::accel_bias

delta velocity bias estimate in m/s

Definition at line 372 of file common.h.

Referenced by Ekf::calculateOutputStates(), Ekf::constrainStates(), Ekf::fixCovarianceErrors(), Ekf::fuse(), Ekf::fuseDrag(), Ekf::get_accel_bias(), Ekf::get_state_delayed(), Ekf::initialiseFilter(), Ekf::predictCovariance(), Ekf::predictState(), Ekf::reset_imu_bias(), and Ekf::resetStates().

gyro_bias

Vector3f estimator::stateSample::gyro_bias

delta angle bias estimate in rad

Definition at line 371 of file common.h.

Referenced by Ekf::calculate_quaternion(), Ekf::calculateOutputStates(), Ekf::constrainStates(), Ekf::controlOpticalFlowFusion(), Ekf::fuse(), Ekf::get_gyro_bias(), Ekf::get_state_delayed(), Ekf::initialiseFilter(), Ekf::predictCovariance(), Ekf::predictState(), Ekf::reset_imu_bias(), and Ekf::resetStates().

mag_B

Vector3f estimator::stateSample::mag_B

magnetometer bias estimate in body frame in gauss

Definition at line 374 of file common.h.

Referenced by Ekf::constrainStates(), Ekf::fuse(), Ekf::fuseHeading(), Ekf::fuseMag(), Ekf::get_state_delayed(), Ekf::initialiseFilter(), Ekf::realignYawGPS(), and Ekf::resetStates().

mag_I

Vector3f estimator::stateSample::mag_I

NED earth magnetic field in gauss.

Definition at line 373 of file common.h.

Referenced by Ekf::constrainStates(), Ekf::fuse(), Ekf::fuseDeclination(), Ekf::fuseMag(), Ekf::get_state_delayed(), Ekf::getMagDeclination(), Ekf::initialiseFilter(), Ekf::limitDeclination(), Ekf::realignYawGPS(), Ekf::resetMagHeading(), and Ekf::resetStates().

pos

Vector3f estimator::stateSample::pos

NED position in earth frame in m.

Definition at line 370 of file common.h.

Referenced by Ekf::alignOutputFilter(), Ekf::calculateOutputStates(), Ekf::checkHaglYawResetReq(), Ekf::checkRangeAidSuitability(), Ekf::collect_gps(), Ekf::constrainStates(), Ekf::controlExternalVisionFusion(), Ekf::controlGpsFusion(), Ekf::controlHeightFusion(), Ekf::controlHeightSensorTimeouts(), Ekf::controlMagFusion(), Ekf::controlOpticalFlowFusion(), Ekf::controlVelPosFusion(), Ekf::fuse(), Ekf::fuseFlowForTerrain(), Ekf::fuseHagl(), Ekf::fuseOptFlow(), Ekf::fuseVelPosHeight(), Ekf::get_ekf_ctrl_limits(), Ekf::get_ekf_vel_accuracy(), Ekf::get_state_delayed(), Ekf::initHagl(), Ekf::initialiseFilter(), Ekf::predictState(), Ekf::resetHeight(), Ekf::resetPosition(), Ekf::resetStates(), Ekf::resetVelocity(), and Ekf::runTerrainEstimator().

quat_nominal

Quatf estimator::stateSample::quat_nominal

quaternion defining the rotation from body to earth frame

Definition at line 368 of file common.h.

Referenced by Ekf::alignOutputFilter(), Ekf::calcExtVisRotMat(), Ekf::calcRotVecVariances(), Ekf::calculateOutputStates(), Ekf::constrainStates(), Ekf::controlExternalVisionFusion(), Ekf::fuse(), Ekf::fuseDrag(), Ekf::fuseFlowForTerrain(), Ekf::fuseGpsAntYaw(), Ekf::fuseHeading(), Ekf::fuseMag(), Ekf::fuseOptFlow(), Ekf::fuseSideslip(), Ekf::get_state_delayed(), Ekf::increaseQuatYawErrVariance(), Ekf::initialiseFilter(), Ekf::initialiseQuatCovariances(), Ekf::predictCovariance(), Ekf::predictState(), Ekf::realignYawGPS(), Ekf::resetExtVisRotMat(), Ekf::resetGpsAntYaw(), Ekf::resetMagHeading(), Ekf::resetStates(), and Ekf::resetWindStates().

vel

Vector3f estimator::stateSample::vel

NED velocity in earth frame in m/s.

Definition at line 369 of file common.h.

Referenced by Ekf::alignOutputFilter(), Ekf::calculateOutputStates(), Ekf::checkRangeAidSuitability(), Ekf::constrainStates(), Ekf::controlAuxVelFusion(), Ekf::controlExternalVisionFusion(), Ekf::controlGpsFusion(), Ekf::fuse(), Ekf::fuseAirspeed(), Ekf::fuseDrag(), Ekf::fuseFlowForTerrain(), Ekf::fuseOptFlow(), Ekf::fuseSideslip(), Ekf::get_state_delayed(), Ekf::get_true_airspeed(), Ekf::gps_is_good(), Ekf::initialiseFilter(), Ekf::predictCovariance(), Ekf::predictState(), Ekf::realignYawGPS(), Ekf::resetHeight(), Ekf::resetStates(), Ekf::resetVelocity(), Ekf::resetWindStates(), and Ekf::runTerrainEstimator().

wind_vel

Vector2f estimator::stateSample::wind_vel

wind velocity in m/s

Definition at line 375 of file common.h.

Referenced by Ekf::constrainStates(), Ekf::fuse(), Ekf::fuseAirspeed(), Ekf::fuseDrag(), Ekf::fuseSideslip(), Ekf::get_state_delayed(), Ekf::get_true_airspeed(), Ekf::get_wind_velocity(), Ekf::initialiseFilter(), Ekf::realignYawGPS(), Ekf::resetStates(), Ekf::resetWindCovariance(), and Ekf::resetWindStates().

---

The documentation for this struct was generated from the following file:

• src/lib/ecl/EKF/common.h