AHRS Class Reference

Interface for the estimated Attitude and Heading Reference System. More...

#include <ahrs.hpp>

Inheritance diagram for AHRS:

List of all members.

Public Types
enum	ahrs_state_t { AHRS_INITIALISING = 0, AHRS_LEVELING = 1, AHRS_CONVERGING = 2, AHRS_READY = 3 }
	The calibration level of the filter. More...
Public Member Functions
virtual bool	update (void)=0
	Main update function.
virtual float	last_update_s (void) const =0
	Last update in seconds.
virtual bool	is_healthy (void) const =0
	Indicates which estimate can be trusted.
virtual quat_t	attitude (void) const =0
	Estimated attitude.
virtual std::array< float, 3 >	angular_speed (void) const =0
	Estimated angular velocity.
virtual std::array< float, 3 >	linear_acceleration (void) const =0
	Estimated linear acceleration.
virtual float	yaw () const
	Gets the yaw angle from the ahrs quaternion.

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Detailed Description

Interface for the estimated Attitude and Heading Reference System.

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Member Enumeration Documentation

enum AHRS::ahrs_state_t

The calibration level of the filter.

Enumerator:

AHRS_INITIALISING	Calibration level: Not initialised.
AHRS_LEVELING	Calibration level: No calibration, attitude estimation correction by accelero/magneto measurements.
AHRS_CONVERGING	Calibration level: leveling, correction of gyro biais.
AHRS_READY	Calibration level: leveled.

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Member Function Documentation

virtual std::array<float,3> AHRS::angular_speed

(

void

)

const [pure virtual]

Estimated angular velocity.

Returns:

3D angular velocity

Implemented in INS_AHRS_groundtruth, AHRS_madgwick, AHRS_ekf, and AHRS_qfilter.

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virtual quat_t AHRS::attitude

(

void

)

const [pure virtual]

Estimated attitude.

Returns:

quaternion

Implemented in INS_AHRS_groundtruth, AHRS_madgwick, AHRS_ekf, and AHRS_qfilter.

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virtual bool AHRS::is_healthy

(

void

)

const [pure virtual]

Indicates which estimate can be trusted.

Parameters:

type	Type of estimate

Returns:

boolean

Implemented in INS_AHRS_groundtruth, AHRS_madgwick, AHRS_ekf, and AHRS_qfilter.

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virtual float AHRS::last_update_s

(

void

)

const [pure virtual]

Last update in seconds.

Returns:

time

Implemented in AHRS_madgwick, AHRS_ekf, AHRS_qfilter, and INS_AHRS_groundtruth.

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virtual std::array<float,3> AHRS::linear_acceleration

(

void

)

const [pure virtual]

Estimated linear acceleration.

Returns:

3D linear acceleration

Implemented in INS_AHRS_groundtruth, AHRS_madgwick, AHRS_ekf, and AHRS_qfilter.

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virtual bool AHRS::update

(

void

)

[pure virtual]

Main update function.

Returns:

Success

Implemented in AHRS_madgwick, AHRS_ekf, AHRS_qfilter, and INS_AHRS_groundtruth.

virtual float AHRS::yaw

(

)

const [inline, virtual]

Gets the yaw angle from the ahrs quaternion.

Returns:

yaw

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

• /home/travis/build/lis-epfl/MAVRIC_Library/sensing/ahrs.hpp