calib.h File Reference

Initial static window: references, noise and initial attitude. More...

#include <stdint.h>
#include "iekf.h"

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Data Structures
struct	calib_t
struct	calib_result_t

Macros
#define	CALIB_MAX_SAMPLES   256

Functions
void	calib_reset (calib_t *c)
int	calib_add (calib_t *c, const float acc[3], const float gyro[3], const float mag[3], float gyro_still_thr)
	Returns 0 if the sample is compatible with "still", -1 if moving.
uint32_t	calib_count (const calib_t *c)
int	calib_finish (const calib_t *c, float sigma_min, calib_result_t *out)
float	direction_noise_std (const float(*v)[3], uint32_t n)

Detailed Description

Initial static window: references, noise and initial attitude.

C equivalent of section 2 of runRealData.m + directionNoiseStd.m, with ONE deliberate difference: the world frame is not "body at t=0" but a levelled NWU frame (x = horizontal magnetic north, y = west, z = up), built with the TRIAD method. Reason: the tilt-compensated magnetometer update assumes a vertical world z; with world = body(t0) and the board not perfectly level that assumption is violated. As a bonus, the MATLAB triad shows a true heading.

Definition in file calib.h.

Macro Definition Documentation

CALIB_MAX_SAMPLES

#define CALIB_MAX_SAMPLES   256

Definition at line 19 of file calib.h.

Function Documentation

calib_reset()

void calib_reset

(

calib_t *

c

)

Definition at line 10 of file calib.c.

Referenced by est_init(), and on_mag().

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calib_add()

int calib_add	(	calib_t *	c,
		const float	acc[3],
		const float	gyro[3],
		const float	mag[3],
		float	gyro_still_thr
	)

Returns 0 if the sample is compatible with "still", -1 if moving.

Definition at line 14 of file calib.c.

References calib_t::acc, CALIB_MAX_SAMPLES, calib_t::gyro_norm_max, calib_t::gyro_sum, calib_t::mag, calib_t::n, and vec3_norm().

Referenced by on_mag().

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calib_count()

uint32_t calib_count

(

const calib_t *

c

)

Definition at line 12 of file calib.c.

References calib_t::n.

Referenced by on_mag().

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calib_finish()

int calib_finish	(	const calib_t *	c,
		float	sigma_min,
		calib_result_t *	out
	)

Definition at line 52 of file calib.c.

References calib_t::acc, direction_noise_std(), calib_t::gyro_sum, calib_t::mag, mat3_vec(), calib_t::n, s, calib_result_t::seed, calib_result_t::sigma_acc, calib_result_t::sigma_acc_raw, calib_result_t::sigma_mag, calib_result_t::sigma_mag_raw, vec3_cross(), vec3_dot(), vec3_norm(), and vec3_normalize().

Referenced by on_mag().

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direction_noise_std()

float direction_noise_std	(	const float(*)	v[3],
		uint32_t	n
	)

Definition at line 29 of file calib.c.

References n, vec3_dot(), vec3_norm(), and vec3_normalize().

Referenced by calib_finish().

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