Inheritance diagram for AHRS_madgwick:

Collaboration diagram for AHRS_madgwick:

Classes
struct	conf_t
	Configuration for ahrs _madgwick. More...
Public Member Functions
	AHRS_madgwick (const Imu &imu, const Airspeed_analog &airspeed, const conf_t &config=default_config())
	Init function.
bool	update (void)
	Main update function.
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 conf_t	default_config ()
	Default configuration.
Protected Attributes
const Imu &	imu_
	Reference to IMU sensors.
const Airspeed_analog &	airspeed_
	Reference to the airspeed sensor.
quat_t	attitude_
	Estimated attitude.
std::array< float, 3 >	angular_speed_
	Estimated angular speed.
std::array< float, 3 >	linear_acc_
	Estimated linear acceleration.
float	last_update_s_
	Last update time.
float	beta_
	2 * proportional gain (Kp)
float	zeta_
	Gyro drift bias gain.
uint32_t	acceleration_correction_
	Enable the correction of the parasitic accelerations ?
float	correction_speed_
	Airspeed from which the correction should start.

Detailed Description

Disclaimer: this WIP

Constructor & Destructor Documentation

Init function.

Parameters:

imu	Reference to IMU structure
airspeed	Reference to airspeed sensor
config	Config structure

std::array< float, 3 > AHRS_madgwick::angular_speed ( void ) const [virtual]

Estimated angular velocity.

Implements AHRS.

quat_t AHRS_madgwick::attitude ( void ) const [virtual]

Estimated attitude.

Implements AHRS.

bool AHRS_madgwick::is_healthy ( void ) const [virtual]

Indicates which estimate can be trusted.

Parameters:

type	Type of estimate

Implements AHRS.

float AHRS_madgwick::last_update_s ( void ) const [virtual]

Last update in seconds.

Implements AHRS.

std::array< float, 3 > AHRS_madgwick::linear_acceleration ( void ) const [virtual]

Estimated linear acceleration.

Implements AHRS.

bool AHRS_madgwick::update ( void ) [virtual]

Main update function.

Implements AHRS.

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