The position estimator structure. More...

Collaboration diagram for position_estimation_t:

Public Attributes
float	kp_vel_gps [3]
	The gain to correct the velocity estimation from the GPS.

float	kp_pos_gps [3]
	The gain to correct the position estimation from the GPS.

float	kp_alt_baro
	The gain to correct the Z position estimation from the barometer.

float	kp_vel_baro
	The gain to correct the position estimation from the barometer.

uint32_t	time_last_gps_msg
	The time at which we received the last GPS message in ms.

uint32_t	time_last_barometer_msg
	The time at which we received the last barometer message in ms.

bool	init_gps_position
	The boolean flag ensuring that the GPS was initialized.

bool	init_barometer
	The boolean flag ensuring that the barometer was initialized.

float	vel_bf [3]
	The 3D velocity in body frame.

float	vel [3]
	The 3D velocity in global frame.

float	last_alt
	The value of the last altitude estimation.

float	last_vel [3]
	The last 3D velocity.

local_coordinates_t	local_position
	The local position.

local_coordinates_t	last_gps_pos
	The coordinates of the last GPS position.

float	gravity
	The value of the gravity.

barometer_t *	barometer
	The pointer to the barometer structure.

const gps_t *	gps
	The pointer to the GPS structure.

const ahrs_t *	ahrs
	The pointer to the attitude estimation structure.

const imu_t *	imu
	The pointer to the IMU structure.

state_t *	state
	The pointer to the state structure.

bool *	nav_plan_active
	The pointer to the waypoint set flag.

Detailed Description

The position estimator structure.

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

/run/media/julien/Data/Documents/MAVRIC/MAVRIC_Library/sensing/position_estimation.h

Public Attributes