The production configuration of the attitude estimator, built from app_config.h in one place, so the firmware and the host tests run the same numbers. More...

#include "est_pipeline.h"

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Functions
void	app_est_config (est_config_t *ec)
	Fills every field from app_config.h, including APP_COMPARE_ORIGINAL.

Detailed Description

The production configuration of the attitude estimator, built from app_config.h in one place, so the firmware and the host tests run the same numbers.

Definition in file est_config.h.

Function Documentation

◆ app_est_config()

void app_est_config ( est_config_t * ec )

Fills every field from app_config.h, including APP_COMPARE_ORIGINAL.

Not set here (board data): mag_map, mag_hard_iron, mag_scale.

Definition at line 10 of file est_config.c.

References iekf_config_t::acc_nis_gate, iekf_config_t::acc_tol, iekf_config_t::adaptive, APP_CALIB_GYRO_STILL, APP_CALIB_SAMPLES, APP_IMU_ODR, APP_MAG_FAST, APP_STEP_HZ, APP_STEPS_PER_ACC, APP_STILL_ACC_TOL, APP_STILL_GYRO_THR, APP_STILL_TIME_S, est_config_t::calib_gyro_still, est_config_t::calib_samples, iekf_config_t::decouple, iekf_config_t::dip_tol, est_config_t::ekf, iekf_config_t::estimate_bias, iekf_config_t::grace_updates, est_config_t::gyro_per_step, IEKF_ACC_NIS_GATE, IEKF_ACC_TOL, IEKF_ADAPTIVE, IEKF_DECOUPLE, iekf_default_config(), IEKF_DIP_TOL, IEKF_ESTIMATE_BIAS, IEKF_GRACE_S, IEKF_INFL_MAX, IEKF_INFL_TAU_S, IEKF_LOCKOUT_BUMP, IEKF_LOCKOUT_S, IEKF_MAG_NIS_GATE, IEKF_MAG_TOL, IEKF_P0_ATT, IEKF_P0_BIAS, IEKF_PERSIST_MIN, IEKF_PERSIST_RATIO, IEKF_PERSIST_TAU_S, IEKF_RESET_JACOBIAN, IEKF_SIGMA_BIAS, IEKF_SIGMA_GYRO, IEKF_SIGMA_VEC_MIN, IEKF_TANGENT_INNOV, IEKF_TILT_COMP_MAG, IMU_ODR_1920HZ, IMU_SH_HZ, iekf_config_t::infl_decay, iekf_config_t::infl_max, iekf_config_t::lockout_p_bump, iekf_config_t::lockout_updates, est_config_t::mag_latency_s, est_config_t::mag_latency_std_s, iekf_config_t::mag_nis_gate, iekf_config_t::mag_tol, iekf_config_t::p0_att, iekf_config_t::p0_bias, iekf_config_t::persist_decay, iekf_config_t::persist_min, iekf_config_t::persist_ratio, iekf_config_t::reset_jacobian, iekf_config_t::sigma_bias, iekf_config_t::sigma_gyro, est_config_t::sigma_vec_min, est_config_t::steps_per_acc, est_config_t::still_acc_tol, est_config_t::still_gyro_thr, est_config_t::still_time_s, iekf_config_t::tangent_innov, and iekf_config_t::tilt_comp_mag.

Referenced by ImuTask().

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Functions

Detailed Description

Function Documentation

◆ app_est_config()