AHRS_ekf Class Reference

The AHRS EKF class. More...

#include <ahrs_ekf.hpp>

Inheritance diagram for AHRS_ekf:

Collaboration diagram for AHRS_ekf:

List of all members.

Classes
struct	conf_t
	The AHRS EKF config structure. More...
Public Member Functions
	AHRS_ekf (const Imu &imu, const AHRS_ekf::conf_t config=default_config())
	AHRS EKF controller.
bool	update (void)
	Performs the EKF algorithm.
void	calibrating_north_vector (void)
	Performs the north vector calibration.
float	last_update_s (void) const
	Last update in seconds.
bool	is_healthy (void) const
	Indicates which estimate can be trusted.
quat_t	attitude (void) const
	Estimated attitude.
std::array< float, 3 >	angular_speed (void) const
	Estimated angular velocity.
std::array< float, 3 >	linear_acceleration (void) const
	Estimated linear acceleration.
Static Public Member Functions
static AHRS_ekf::conf_t	default_config ()
	Default configuration structure.
Public Attributes
conf_t	config_
	The config structure for the EKF module.
Protected Member Functions
void	init_kalman (void)
	Initialize the state and matrix of the EKF.
void	predict_step (void)
	Performs the prediction step of the EKF.
void	update_step_acc (void)
	Performs the update step with the accelerometer.
void	update_step_mag (void)
	Performs the update step with the magnetometer.
Protected Attributes
const Imu &	imu_
	The Reference to the IMU structure.
quat_t	attitude_
	Estimated attitude.
std::array< float, 3 >	angular_speed_
	Estimated angular speed.
std::array< float, 3 >	linear_acc_
	Estimated linear acceleration.
ahrs_state_t	internal_state_
Mat< 3, 3 >	R_acc_
	The accelerometer measruement noise matrix.
Mat< 3, 3 >	R_acc_norm_
	The additonal accelerometer measurement noise matrix when acceleration norm is different from 1.0g.
Mat< 3, 3 >	R_mag_
	The magnetometer measurement noise matrix.
float	dt_s_
	Time interval since last update in seconds.
float	last_update_s_
	Last update time in seconds.

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Detailed Description

The AHRS EKF class.

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Constructor & Destructor Documentation

AHRS_ekf::AHRS_ekf	(	const Imu &	imu,
		const AHRS_ekf::conf_t	config = default_config()
	)

AHRS EKF controller.

Parameters:

imu	IMU structure (input)
config	Configuration structure

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Member Function Documentation

std::array< float, 3 > AHRS_ekf::angular_speed

(

void

)

const [virtual]

Estimated angular velocity.

Returns:

3D angular velocity

Implements AHRS.

quat_t AHRS_ekf::attitude

(

void

)

const [virtual]

Estimated attitude.

Returns:

quaternion

Implements AHRS.

bool AHRS_ekf::is_healthy

(

void

)

const [virtual]

Indicates which estimate can be trusted.

Parameters:

type	Type of estimate

Returns:

boolean

Implements AHRS.

float AHRS_ekf::last_update_s

(

void

)

const [virtual]

Last update in seconds.

Returns:

time

Implements AHRS.

std::array< float, 3 > AHRS_ekf::linear_acceleration

(

void

)

const [virtual]

Estimated linear acceleration.

Returns:

3D linear acceleration

Implements AHRS.

bool AHRS_ekf::update

(

void

)

[virtual]

Performs the EKF algorithm.

Returns:

true if success

Implements AHRS.

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

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