iekf_t Struct Reference

#include <iekf.h>

Collaboration diagram for iekf_t:

Data Fields
iekf_config_t	cfg
float	R [9]
float	b [3]
float	P [IEKF_NX *IEKF_NX]
float	g_ref [3]
float	m_ref [3]
float	nom_acc
float	nom_mag
float	last_acc_dev
float	last_mag_dev
	relative magnitude deviation
float	acc_infl
float	mag_infl
	current inflation of R (>= 1)
float	last_acc_nis
float	last_mag_nis
float	last_acc_dir [3]
	last measured acc direction (for dip)
float	dip_ref
	g_ref-m_ref angle, rad
float	last_dip_dev
uint8_t	acc_trusted
uint16_t	acc_gated_run
	consecutive acc updates with inflation > 2
uint16_t	acc_grace
	remaining acc updates without inflation
uint32_t	lockouts
	how many times the protection fired
float	innov_w_mean [3]
	moving mean of acc innovation, world frame
float	innov_w_pow
	moving mean of |innovation|^2
float	last_acc_innov_b [3]
	acc innovation (body) before the update
float	E_last [9]
	rotation of the last propagation step
float	wF [36]
	static workspace: no large matrices on the RTOS task stack
float	wA [36]
float	wB [36]
float	wH [18]
float	wHt [18]
float	wPHt [18]
float	wK [18]

Detailed Description

Definition at line 96 of file iekf.h.

Field Documentation

cfg

iekf_config_t iekf_t::cfg

Definition at line 97 of file iekf.h.

Referenced by condition_covariance(), iekf_init(), iekf_propagate_dtheta(), iekf_reset_attitude(), iekf_update_acc(), iekf_update_mag_ex(), project_gain(), reset_covariance(), and vector_update().

R

float iekf_t::R[9]

Definition at line 98 of file iekf.h.

Referenced by iekf_get_quat(), iekf_init(), iekf_propagate_dtheta(), iekf_reset_attitude(), iekf_update_acc(), iekf_update_mag_ex(), project_gain(), and vector_update().

b

float iekf_t::b[3]

Definition at line 99 of file iekf.h.

Referenced by iekf_init(), iekf_propagate_dtheta(), and vector_update().

P

float iekf_t::P[IEKF_NX *IEKF_NX]

Definition at line 100 of file iekf.h.

Referenced by condition_covariance(), iekf_init(), iekf_propagate_dtheta(), iekf_reset_attitude(), iekf_update_acc(), reset_covariance(), and vector_update().

g_ref

float iekf_t::g_ref[3]

Definition at line 101 of file iekf.h.

Referenced by iekf_init(), iekf_update_acc(), and project_gain().

m_ref

float iekf_t::m_ref[3]

Definition at line 101 of file iekf.h.

Referenced by iekf_init(), and iekf_update_mag_ex().

nom_acc

float iekf_t::nom_acc

Definition at line 102 of file iekf.h.

Referenced by iekf_init(), and iekf_update_acc().

nom_mag

float iekf_t::nom_mag

Definition at line 102 of file iekf.h.

Referenced by iekf_init(), and iekf_update_mag_ex().

last_acc_dev

float iekf_t::last_acc_dev

Definition at line 103 of file iekf.h.

Referenced by iekf_update_acc().

last_mag_dev

float iekf_t::last_mag_dev

relative magnitude deviation

Definition at line 103 of file iekf.h.

Referenced by iekf_update_mag_ex().

acc_infl

float iekf_t::acc_infl

Definition at line 104 of file iekf.h.

Referenced by iekf_init(), iekf_reset_attitude(), and iekf_update_acc().

mag_infl

float iekf_t::mag_infl

current inflation of R (>= 1)

Definition at line 104 of file iekf.h.

Referenced by iekf_init(), iekf_reset_attitude(), and iekf_update_mag_ex().

last_acc_nis

float iekf_t::last_acc_nis

Definition at line 105 of file iekf.h.

Referenced by iekf_update_acc().

last_mag_nis

float iekf_t::last_mag_nis

Definition at line 105 of file iekf.h.

Referenced by iekf_update_mag_ex().

last_acc_dir

float iekf_t::last_acc_dir[3]

last measured acc direction (for dip)

Definition at line 106 of file iekf.h.

Referenced by iekf_init(), iekf_update_acc(), and iekf_update_mag_ex().

dip_ref

float iekf_t::dip_ref

g_ref-m_ref angle, rad

Definition at line 107 of file iekf.h.

Referenced by iekf_init(), and iekf_update_mag_ex().

last_dip_dev

float iekf_t::last_dip_dev

Definition at line 108 of file iekf.h.

Referenced by iekf_update_mag_ex().

acc_trusted

uint8_t iekf_t::acc_trusted

Definition at line 109 of file iekf.h.

Referenced by iekf_update_acc().

acc_gated_run

uint16_t iekf_t::acc_gated_run

consecutive acc updates with inflation > 2

Definition at line 111 of file iekf.h.

Referenced by iekf_reset_attitude(), and iekf_update_acc().

acc_grace

uint16_t iekf_t::acc_grace

remaining acc updates without inflation

Definition at line 112 of file iekf.h.

Referenced by iekf_reset_attitude(), and iekf_update_acc().

lockouts

uint32_t iekf_t::lockouts

how many times the protection fired

Definition at line 113 of file iekf.h.

Referenced by iekf_update_acc().

innov_w_mean

float iekf_t::innov_w_mean[3]

moving mean of acc innovation, world frame

Definition at line 114 of file iekf.h.

Referenced by iekf_reset_attitude(), and iekf_update_acc().

innov_w_pow

float iekf_t::innov_w_pow

moving mean of |innovation|^2

Definition at line 115 of file iekf.h.

Referenced by iekf_reset_attitude(), and iekf_update_acc().

last_acc_innov_b

float iekf_t::last_acc_innov_b[3]

acc innovation (body) before the update

Definition at line 116 of file iekf.h.

Referenced by iekf_update_acc().

E_last

float iekf_t::E_last[9]

rotation of the last propagation step

Definition at line 117 of file iekf.h.

Referenced by iekf_init(), and iekf_propagate_dtheta().

wF

float iekf_t::wF[36]

static workspace: no large matrices on the RTOS task stack

Definition at line 119 of file iekf.h.

Referenced by iekf_propagate_dtheta(), and vector_update().

wA

float iekf_t::wA[36]

Definition at line 119 of file iekf.h.

Referenced by iekf_propagate_dtheta(), and vector_update().

wB

float iekf_t::wB[36]

Definition at line 119 of file iekf.h.

Referenced by iekf_propagate_dtheta(), and vector_update().

wH

float iekf_t::wH[18]

Definition at line 120 of file iekf.h.

Referenced by vector_update().

wHt

float iekf_t::wHt[18]

Definition at line 120 of file iekf.h.

Referenced by vector_update().

wPHt

float iekf_t::wPHt[18]

Definition at line 120 of file iekf.h.

Referenced by vector_update().

wK

float iekf_t::wK[18]

Definition at line 120 of file iekf.h.

Referenced by project_gain(), and vector_update().

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

• filters/iekf/iekf.h