est_t Struct Reference

#include <est_pipeline.h>

Collaboration diagram for est_t:

Data Fields
est_config_t	cfg
iekf_t	f
calib_t	cal
accwin_t	win
uint8_t	running
float	dth [3]
	step accumulators
float	gsum [3]
uint8_t	k
uint32_t	step
float	acc_mean [3]
	latest quantities (telemetry / calibration)
float	gyro_mean [3]
float	mag [3]
float	omega [3]
	last step gyro, bias removed
float	gwin_sum [3]
uint16_t	gwin_n
uint8_t	have_acc_mean
uint8_t	flags
	EST_F_*, cleared after each callback.
float	t
	s, estimation time since RUN start
float	still_t
	s, how long the board has been still
calib_result_t	calres
uint8_t	trace_enable
est_trace_t	trace
	cleared after each on_state
uint32_t	win_count
	acc windows since RUN start
est_cb_t	on_state
	240 Hz, after the acc update
est_cb_t	on_init
	once, at end of calibration
void *	user

Detailed Description

Definition at line 84 of file est_pipeline.h.

Field Documentation

cfg

est_config_t est_t::cfg

Definition at line 85 of file est_pipeline.h.

f

iekf_t est_t::f

Definition at line 86 of file est_pipeline.h.

cal

calib_t est_t::cal

Definition at line 87 of file est_pipeline.h.

win

accwin_t est_t::win

Definition at line 88 of file est_pipeline.h.

running

uint8_t est_t::running

Definition at line 89 of file est_pipeline.h.

dth

float est_t::dth[3]

step accumulators

Definition at line 92 of file est_pipeline.h.

gsum

float est_t::gsum[3]

Definition at line 92 of file est_pipeline.h.

k

uint8_t est_t::k

Definition at line 93 of file est_pipeline.h.

step

uint32_t est_t::step

Definition at line 94 of file est_pipeline.h.

acc_mean

float est_t::acc_mean[3]

latest quantities (telemetry / calibration)

Definition at line 97 of file est_pipeline.h.

gyro_mean

float est_t::gyro_mean[3]

Definition at line 97 of file est_pipeline.h.

mag

float est_t::mag[3]

Definition at line 97 of file est_pipeline.h.

omega

float est_t::omega[3]

last step gyro, bias removed

Definition at line 98 of file est_pipeline.h.

gwin_sum

float est_t::gwin_sum[3]

Definition at line 99 of file est_pipeline.h.

gwin_n

uint16_t est_t::gwin_n

Definition at line 100 of file est_pipeline.h.

have_acc_mean

uint8_t est_t::have_acc_mean

Definition at line 101 of file est_pipeline.h.

flags

uint8_t est_t::flags

EST_F_*, cleared after each callback.

Definition at line 102 of file est_pipeline.h.

t

float est_t::t

s, estimation time since RUN start

Definition at line 103 of file est_pipeline.h.

still_t

float est_t::still_t

s, how long the board has been still

Definition at line 104 of file est_pipeline.h.

calres

calib_result_t est_t::calres

Definition at line 105 of file est_pipeline.h.

trace_enable

uint8_t est_t::trace_enable

Definition at line 107 of file est_pipeline.h.

trace

est_trace_t est_t::trace

cleared after each on_state

Definition at line 108 of file est_pipeline.h.

win_count

uint32_t est_t::win_count

acc windows since RUN start

Definition at line 109 of file est_pipeline.h.

on_state

est_cb_t est_t::on_state

240 Hz, after the acc update

Definition at line 111 of file est_pipeline.h.

on_init

est_cb_t est_t::on_init

once, at end of calibration

Definition at line 112 of file est_pipeline.h.

user

void* est_t::user

Definition at line 113 of file est_pipeline.h.

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

• app/est_pipeline.h