tlm_build.h File Reference

Builds telemetry frames from the pipeline state. More...

#include <stddef.h>
#include <stdint.h>
#include "est_pipeline.h"
#include "telemetry.h"

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Functions
size_t	tlm_build_state (const est_t *e, uint8_t *frame, size_t cap)
size_t	tlm_build_init (const est_t *e, float fs_state_hz, uint8_t *frame, size_t cap)
size_t	tlm_build_replay (const est_t *e, uint8_t *frame, size_t cap)

Detailed Description

Builds telemetry frames from the pipeline state.

Portable (no HAL/RTOS): used by the firmware and by the PC test, which therefore produces capture files byte-identical to the board's.

Definition in file tlm_build.h.

Function Documentation

tlm_build_state()

size_t tlm_build_state	(	const est_t *	e,
		uint8_t *	frame,
		size_t	cap
	)

Definition at line 10 of file tlm_build.c.

References tlm_state_t::acc, tlm_state_t::bias, cap, tlm_state_t::flags, tlm_state_t::gyro, iekf_get_quat(), tlm_state_t::mag, tlm_state_t::q, tlm_state_t::seq, tlm_state_t::t_us, tlm_encode(), and TLM_TYPE_STATE.

Referenced by on_state().

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tlm_build_init()

size_t tlm_build_init	(	const est_t *	e,
		float	fs_state_hz,
		uint8_t *	frame,
		size_t	cap
	)

Definition at line 26 of file tlm_build.c.

References iekf_config_t::acc_nis_gate, iekf_config_t::acc_tol, iekf_config_t::adaptive, iekf_seed_t::b0, tlm_init_t::b0, cap, iekf_config_t::decouple, iekf_config_t::dip_tol, iekf_config_t::estimate_bias, tlm_init_t::flags, iekf_seed_t::g_ref, tlm_init_t::g_ref, iekf_config_t::grace_updates, tlm_init_t::grace_updates, iekf_config_t::infl_decay, iekf_config_t::infl_max, iekf_config_t::lockout_p_bump, iekf_config_t::lockout_updates, tlm_init_t::lockout_updates, iekf_seed_t::m_ref, tlm_init_t::m_ref, iekf_config_t::mag_nis_gate, iekf_config_t::mag_tol, iekf_seed_t::nom_acc, iekf_seed_t::nom_mag, 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, PUT, tlm_init_t::q0, iekf_seed_t::R0, iekf_config_t::reset_jacobian, calib_result_t::seed, iekf_config_t::sigma_acc, iekf_config_t::sigma_bias, iekf_config_t::sigma_gyro, iekf_config_t::sigma_mag, so3_to_quat(), iekf_config_t::tangent_innov, iekf_config_t::tilt_comp_mag, tlm_encode(), TLM_I_ADAPTIVE, TLM_I_DECOUPLE, TLM_I_EST_BIAS, TLM_I_RESET_JAC, TLM_I_TANGENT, TLM_I_TILT_COMP, and TLM_TYPE_INIT.

Referenced by on_init().

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tlm_build_replay()

size_t tlm_build_replay	(	const est_t *	e,
		uint8_t *	frame,
		size_t	cap
	)

Definition at line 63 of file tlm_build.c.

References cap, iekf_get_quat(), IEKF_NX, n, tlm_encode(), TLM_REPLAY_MAX, and TLM_TYPE_REPLAY.

Referenced by on_state().

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